{"episode_id": "1cbfe5af4bb5692e", "decision_index": 0, "split": "test", "task": "Take the pen out of the bowl and place it on the table", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.3100088834762573, 0.13332776725292206, 0.47755956649780273], "quaternion_xyzw": [0.9954078133572809, 0.014212069803423655, -0.09118028152640335, 0.025445204655199265]}, "gripper_closure": 0.0, "images": ["images/1cbfe5af4bb5692e/00000_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00000_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with pen", "intent": "Align the end effector for a candidate interaction with pen.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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{"episode_id": "1cbfe5af4bb5692e", "decision_index": 1, "split": "test", "task": "Take the pen out of the bowl and place it on the table", "instruction_available": true, "observation": {"source_step": 15, "eef_pose": {"position_m": [0.32246217131614685, 0.12265804409980774, 0.48264315724372864], "quaternion_xyzw": [0.9975456762553752, 0.010301361476280281, -0.04998959724127438, 0.047932722680820834]}, "gripper_closure": 0.0, "images": ["images/1cbfe5af4bb5692e/00015_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00015_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.33722931146621704, 0.11264827847480774, 0.4868740439414978], "quaternion_xyzw": [0.9976512242900509, -0.009727147059899108, -0.018366934466935315, 0.06526923471992768]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.32246217131614685, 0.12265804409980774, 0.48264315724372864], "quaternion_xyzw": [0.9975456762553752, 0.010301361476280281, -0.04998959724127438, 0.047932722680820834]}, "gripper_closure": 0.0, "images": ["images/1cbfe5af4bb5692e/00015_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00015_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.018334781751036644, "orientation_residual_rad": 0.08250917803806894, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 1, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with pen", "intent": "Align the end effector for a candidate interaction with pen.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Attempt to acquire pen; closure alone cannot verify a grasp. Increase closure toward 0.95 while requesting the labeled pose. 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{"episode_id": "1cbfe5af4bb5692e", "decision_index": 15, "split": "test", "task": "Take the pen out of the bowl and place it on the table", "instruction_available": true, "observation": {"source_step": 114, "eef_pose": {"position_m": [0.6594164371490479, -0.25044211745262146, 0.15774646401405334], "quaternion_xyzw": [0.9931163762329893, -0.09453606627405822, 0.031526259178098, 0.06155396342655488]}, "gripper_closure": 0.8149780035018921, "images": ["images/1cbfe5af4bb5692e/00114_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00114_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6610081791877747, -0.25270116329193115, 0.14910560846328735], "quaternion_xyzw": [0.9947153091650746, -0.0896105245722931, 0.017573238757379078, 0.04693174701718296]}, "gripper_closure": 0.43061670660972595, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 99, "eef_pose": {"position_m": [0.6513814330101013, -0.24695706367492676, 0.1489906758069992], "quaternion_xyzw": [0.9936075916688089, -0.09113335791307856, 0.02187804990651952, 0.06292865631716474]}, "gripper_closure": 0.18061670660972595, "images": ["images/1cbfe5af4bb5692e/00099_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00099_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00099_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.011210804805159569, "orientation_residual_rad": 0.033345764660350524, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6472153067588806, -0.24033765494823456, 0.1974458247423172], "quaternion_xyzw": [0.9925473653200555, -0.10065327141008194, 0.04832400982526925, 0.04882045293800533]}, "gripper_closure": 0.9537444710731506, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 114, "eef_pose": {"position_m": [0.6594164371490479, -0.25044211745262146, 0.15774646401405334], "quaternion_xyzw": [0.9931163762329893, -0.09453606627405822, 0.031526259178098, 0.06155396342655488]}, "gripper_closure": 0.8149780035018921, "images": ["images/1cbfe5af4bb5692e/00114_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00114_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.0427435040473938, "orientation_residual_rad": 0.04391218755252322, "gripper_residual": 0.13876646757125854, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 15, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise candidate interaction: pen", "intent": "Raise the end effector while maintaining closure; retention of pen remains unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.81 (0 open, 1 closed). Raise the end effector while maintaining closure; retention of pen remains unverified. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 119, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05819511701224907, "position_residual_m": 0.05692627653479576, "orientation_residual_rad": 0.039997592717131596}, "provenance": {"observation_step": 114, "target_command_step": 118, "feedback_step": 119, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Raise the end effector while maintaining closure; retention of pen remains unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 119, recorded EEF XYZ is (0.660, -0.241, 0.215) m in robot-base coordinates.", "Recorded gripper closure is 0.81 (0 open, 1 closed).", "Since the prior decision observation at frame 114, EEF displacement is 5.82 cm."], "task_context": "The instruction requests: Take the pen out of the bowl and place it on the table.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.26 cm of EEF translation (−X 5.75 cm, +Y 5.65 cm, +Z 7.85 cm), 3.4° orientation change, and gripper closure 0.95.", "intent": "Raise the end effector while maintaining closure; retention of pen remains unverified.", "translation_delta_m": [-0.05754876136779785, 0.056500837206840515, 0.07850827276706696], "translation_norm_m": 0.11255111475640667, "orientation_delta_rad": 0.05956721636025509, "gripper_from": 0.8149780035018921, "gripper_target": 0.9537444710731506, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 119, "current_images": ["images/1cbfe5af4bb5692e/00119_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00119_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00119_wrist_image_left.jpg"], "current_position_m": [0.6600441336631775, -0.24130448698997498, 0.21521629393100739], "current_quaternion_xyzw": [0.9917538416166788, -0.09556500151004037, 0.06196038558552878, 0.058758478052433866], "current_gripper_closure": 0.8149780035018921, "previous_observation": {"source_step": 114, "position_m": [0.6594164371490479, -0.25044211745262146, 0.15774646401405334]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/1cbfe5af4bb5692e/00000_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 122, "feedback_step": 123}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6024953722953796, -0.18480364978313446, 0.29372456669807434], "quaternion_xyzw": [0.9911805156664627, -0.08529941341306453, 0.08840325378580777, 0.049699699743904105]}, "gripper_closure": 0.9537444710731506, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 123, "eef_pose": {"position_m": [0.6433466076850891, -0.21843227744102478, 0.26301196217536926], "quaternion_xyzw": [0.9916289745551659, -0.08848275471619076, 0.0768524146773062, 0.054189346727675516]}, "gripper_closure": 0.8149780035018921, "images": ["images/1cbfe5af4bb5692e/00123_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00123_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00123_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06117983162403107, "orientation_residual_rad": 0.025605923564478394, "gripper_residual": 0.13876646757125854, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 123, EEF displacement is 5.56 cm; remaining target position residual is 6.12 cm and orientation residual is 1.5°. 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Reposition the candidate interaction with pen; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 127, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05656068512293973, "position_residual_m": 0.05599663034081459, "orientation_residual_rad": 0.025394947683846807}, "provenance": {"observation_step": 123, "target_command_step": 126, "feedback_step": 127, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with pen; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 127, recorded EEF XYZ is (0.616, -0.179, 0.293) m in robot-base coordinates.", "Recorded gripper closure is 0.81 (0 open, 1 closed).", "Since the prior decision observation at frame 123, EEF displacement is 5.66 cm."], "task_context": "The instruction requests: Take the pen out of the bowl and place it on the table.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.34 cm of EEF translation (−X 7.08 cm, +Y 6.07 cm, +Z 0.47 cm), 1.9° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with pen; object attachment is unverified.", "translation_delta_m": [-0.07083761692047119, 0.06074708700180054, 0.0046885013580322266], "translation_norm_m": 0.09343531770781335, "orientation_delta_rad": 0.03347932882039611, "gripper_from": 0.8149780035018921, "gripper_target": 0.9537444710731506, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 127, "current_images": ["images/1cbfe5af4bb5692e/00127_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00127_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00127_wrist_image_left.jpg"], "current_position_m": [0.6160751581192017, -0.17870405316352844, 0.2926269471645355], "current_quaternion_xyzw": [0.9930955978258837, -0.0699774086424911, 0.08169691893007215, 0.046796466702794054], "current_gripper_closure": 0.8149780035018921, "previous_observation": {"source_step": 123, "position_m": [0.6433466076850891, -0.21843227744102478, 0.26301196217536926]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/1cbfe5af4bb5692e/00000_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 130, "feedback_step": 131}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5452375411987305, -0.1179569661617279, 0.29731544852256775], "quaternion_xyzw": [0.9925174535537385, -0.06892518873094533, 0.09422994431079751, 0.03576507157535386]}, "gripper_closure": 0.9537444710731506, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 131, "eef_pose": {"position_m": [0.5836946368217468, -0.13996177911758423, 0.29770487546920776], "quaternion_xyzw": [0.9941469211012072, -0.05859037665304871, 0.08232752731078107, 0.03822623805106631]}, "gripper_closure": 0.8149780035018921, "images": ["images/1cbfe5af4bb5692e/00131_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00131_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00131_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04430927336215973, "orientation_residual_rad": 0.03207453122845202, "gripper_residual": 0.13876646757125854, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 131, EEF displacement is 5.07 cm; remaining target position residual is 4.43 cm and orientation residual is 1.8°. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 136, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.051729894987550123, "position_residual_m": 0.02929159626364708, "orientation_residual_rad": 0.043027275574485754}, "provenance": {"observation_step": 131, "target_command_step": 135, "feedback_step": 136, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.95 while requesting the labeled pose. 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.56 while requesting the labeled pose. 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{"episode_id": "1cbfe5af4bb5692e", "decision_index": 23, "split": "test", "task": "Take the pen out of the bowl and place it on the table", "instruction_available": true, "observation": {"source_step": 153, "eef_pose": {"position_m": [0.51105135679245, -0.10364346951246262, 0.15856125950813293], "quaternion_xyzw": [0.9832549260412805, -0.1768552719562055, 0.038761528217944236, 0.020724553724077385]}, "gripper_closure": 0.7929515242576599, "images": ["images/1cbfe5af4bb5692e/00153_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00153_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5166327953338623, -0.10241943597793579, 0.16358615458011627], "quaternion_xyzw": [0.9811212063745006, -0.18493422311028437, 0.05243907733011489, 0.02122862910331794]}, "gripper_closure": 0.9537444710731506, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 149, "eef_pose": {"position_m": [0.5119513273239136, -0.10181242972612381, 0.17791566252708435], "quaternion_xyzw": [0.9861567704666491, -0.15832613423416117, 0.043955702938292186, 0.02226107500674516]}, "gripper_closure": 0.8149780035018921, "images": ["images/1cbfe5af4bb5692e/00149_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00149_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00149_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.015087060630321503, "orientation_residual_rad": 0.0567956011789284, "gripper_residual": 0.13876646757125854, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5157163143157959, -0.10127996653318405, 0.15447406470775604], "quaternion_xyzw": [0.9790122935594127, -0.195675804719953, 0.05299839804853289, 0.020906417938670985]}, "gripper_closure": 0.5561674237251282, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.51105135679245, -0.10364346951246262, 0.15856125950813293], "quaternion_xyzw": [0.9832549260412805, -0.1768552719562055, 0.038761528217944236, 0.020724553724077385]}, "gripper_closure": 0.7929515242576599, "images": ["images/1cbfe5af4bb5692e/00153_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00153_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.006637253798544407, "orientation_residual_rad": 0.04795670834893039, "gripper_residual": 0.23678410053253174, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 23, "subgoal": {"id": "sg-006", "phase": "open_gripper", "title": "Open gripper / inspect release: pen", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.79 (0 open, 1 closed). Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 153, recorded EEF XYZ is (0.511, -0.104, 0.159) m in robot-base coordinates.", "Recorded gripper closure is 0.79 (0 open, 1 closed).", "Since the prior decision observation at frame 149, EEF displacement is 1.95 cm."], "task_context": "The instruction requests: Take the pen out of the bowl and place it on the table.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.67 cm of EEF translation (−X 3.23 cm, +Y 3.47 cm, +Z 8.43 cm), 13.2° orientation change, and gripper closure 0.00.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [-0.03228271007537842, 0.03468209505081177, 0.08425964415073395], "translation_norm_m": 0.0966680335960797, "orientation_delta_rad": 0.23088104990770972, "gripper_from": 0.7929515242576599, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 153, "current_images": ["images/1cbfe5af4bb5692e/00153_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00153_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00153_wrist_image_left.jpg"], "current_position_m": [0.51105135679245, -0.10364346951246262, 0.15856125950813293], "current_quaternion_xyzw": [0.9832549260412805, -0.1768552719562055, 0.038761528217944236, 0.020724553724077385], "current_gripper_closure": 0.7929515242576599, "previous_observation": {"source_step": 149, "position_m": [0.5119513273239136, -0.10181242972612381, 0.17791566252708435]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/1cbfe5af4bb5692e/00000_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 164, "feedback_step": 165}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47876864671707153, -0.06896137446165085, 0.24282090365886688], "quaternion_xyzw": [0.967195868533834, -0.20188075653893955, 0.14778077659903205, 0.044013112797606696]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 165, "eef_pose": {"position_m": [0.5117114782333374, -0.09000921994447708, 0.2039293795824051], "quaternion_xyzw": [0.9724044386738727, -0.19211967262495563, 0.12612451192338175, 0.04015278981489087]}, "gripper_closure": 0.0, "images": ["images/1cbfe5af4bb5692e/00165_exterior_image_1_left.jpg", "images/1cbfe5af4bb5692e/00165_exterior_image_2_left.jpg", "images/1cbfe5af4bb5692e/00165_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.05514338240027428, "orientation_residual_rad": 0.049247720413680376, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 165, EEF displacement is 4.74 cm; remaining target position residual is 5.51 cm and orientation residual is 2.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 165, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.047377155261501394, "position_residual_m": 0.05514338240027428, "orientation_residual_rad": 0.049247720413680376}, "provenance": {"observation_step": 153, "target_command_step": 164, "feedback_step": 165, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "071e3bcfc28a18c8", "decision_index": 0, "split": "test", "task": "Put the yellow toy on the left inside the green bowl", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.2681860327720642, -0.03859328106045723, 0.4884645938873291], "quaternion_xyzw": [-0.9848138069888986, -0.0980547937151425, 0.11509553574391944, 0.08532315421580058]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00000_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00000_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with yellow toy", "intent": "Align the end effector for a candidate interaction with yellow toy.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.55 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 117, recorded EEF XYZ is (0.691, 0.100, 0.158) m in robot-base coordinates.", "Recorded gripper closure is 0.94 (0 open, 1 closed).", "Since the prior decision observation at frame 112, EEF displacement is 5.36 cm."], "task_context": "The instruction requests: Put the yellow toy on the left inside the green bowl.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.50 cm of EEF translation (−X 4.21 cm, +Y 0.40 cm, +Z 1.54 cm), 7.6° orientation change, and gripper closure 0.55.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [-0.042138874530792236, 0.003972835838794708, 0.015354394912719727], "translation_norm_m": 0.04502472225855053, "orientation_delta_rad": 0.13343554458108814, "gripper_from": 0.9427312612533569, "gripper_target": 0.5473568439483643, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 117, "current_images": ["images/071e3bcfc28a18c8/00117_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00117_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00117_wrist_image_left.jpg"], "current_position_m": [0.6905840039253235, 0.099751316010952, 0.15844470262527466], "current_quaternion_xyzw": [-0.9963159668621354, 0.04621236036030687, 0.05169020088272548, 0.05046815885487634], "current_gripper_closure": 0.9427312612533569, "previous_observation": {"source_step": 112, "position_m": [0.7145289182662964, 0.05630876123905182, 0.13814233243465424]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/071e3bcfc28a18c8/00000_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00000_wrist_image_left.jpg"], "task_source": "updated_droid_annotations_lab_and_timestamp", "target_command_step": 120, "feedback_step": 121}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6484451293945312, 0.1037241518497467, 0.17379909753799438], "quaternion_xyzw": [-0.9918292080512011, 0.029492333549604812, 0.11583928578937089, 0.04456774827310084]}, "gripper_closure": 0.5473568439483643, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 121, "eef_pose": {"position_m": [0.6661942005157471, 0.10939256846904755, 0.16355735063552856], "quaternion_xyzw": [-0.9938154619904649, 0.03590159353521316, 0.09268849794092948, 0.04950500418912824]}, "gripper_closure": 0.7797356843948364, "images": ["images/071e3bcfc28a18c8/00121_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00121_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00121_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.021261557936668396, "orientation_residual_rad": 0.04920934191984711, "gripper_residual": 0.23237884044647217, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 121, EEF displacement is 2.67 cm; remaining target position residual is 2.13 cm and orientation residual is 2.8°. 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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "071e3bcfc28a18c8", "decision_index": 23, "split": "test", "task": "Put the yellow toy on the left inside the green bowl", "instruction_available": true, "observation": {"source_step": 151, "eef_pose": {"position_m": [0.5842281579971313, -0.0012292732717469335, 0.285970002412796], "quaternion_xyzw": [0.9922713913860177, -0.04668504112400952, -0.10874126706800537, 0.0373273305843162]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00151_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00151_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00151_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5940081477165222, 0.008242383599281311, 0.2901645600795746], "quaternion_xyzw": [0.9940387184729821, -0.035133889781462105, -0.09507202600553556, 0.040173944748035706]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 146, "eef_pose": {"position_m": [0.6376781463623047, 0.02579638361930847, 0.27150702476501465], "quaternion_xyzw": [0.995160362958219, -0.034698088599248916, -0.08763440145917953, 0.027786801278949898]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00146_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00146_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00146_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05062919482588768, "orientation_residual_rad": 0.028997329091517875, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5347989797592163, -0.012813769280910492, 0.3116774260997772], "quaternion_xyzw": [0.992846187234116, -0.0468070504300852, -0.10208371522746189, 0.040551986512033844]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 151, "eef_pose": {"position_m": [0.5842281579971313, -0.0012292732717469335, 0.285970002412796], "quaternion_xyzw": [0.9922713913860177, -0.04668504112400952, -0.10874126706800537, 0.0373273305843162]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00151_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00151_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00151_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05690620467066765, "orientation_residual_rad": 0.014841419284722183, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 23, "subgoal": {"id": "sg-005", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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{"episode_id": "071e3bcfc28a18c8", "decision_index": 27, "split": "test", "task": "Put the yellow toy on the left inside the green bowl", "instruction_available": true, "observation": {"source_step": 164, "eef_pose": {"position_m": [0.4551125466823578, -0.03185039386153221, 0.454458624124527], "quaternion_xyzw": [0.996271782937712, -0.05931792024773536, -0.0597879197708492, 0.018690198208426195]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00164_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00164_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00164_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44843608140945435, -0.03403133153915405, 0.45038318634033203], "quaternion_xyzw": [0.9963938842558224, -0.05001936711856831, -0.06351618078193505, 0.025748497228554858]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 161, "eef_pose": {"position_m": [0.47540655732154846, -0.027906831353902817, 0.40812262892723083], "quaternion_xyzw": [0.9942372039875357, -0.06622965716348508, -0.08126176483564052, 0.022417410529580302]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00161_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00161_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00161_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.050506144762039185, "orientation_residual_rad": 0.048721905287564385, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4396909177303314, -0.03683969005942345, 0.47699859738349915], "quaternion_xyzw": [0.9972881804658014, -0.046786037941015664, -0.05161902889314955, 0.02372398813693199]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 164, "eef_pose": {"position_m": [0.4551125466823578, -0.03185039386153221, 0.454458624124527], "quaternion_xyzw": [0.996271782937712, -0.05931792024773536, -0.0597879197708492, 0.018690198208426195]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00164_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00164_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00164_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.027762746438384056, "orientation_residual_rad": 0.031632652250465756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-005", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 164, recorded EEF XYZ is (0.455, -0.032, 0.454) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 161, EEF displacement is 5.07 cm."], "task_context": "The instruction requests: Put the yellow toy on the left inside the green bowl.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.85 cm of EEF translation (−X 1.25 cm, −Y 0.09 cm, +Z 2.56 cm), 1.8° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.012508809566497803, -0.0008697770535945892, 0.025608569383621216], "translation_norm_m": 0.028513604731243796, "orientation_delta_rad": 0.0319035035655632, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 164, "current_images": ["images/071e3bcfc28a18c8/00164_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00164_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00164_wrist_image_left.jpg"], "current_position_m": [0.4551125466823578, -0.03185039386153221, 0.454458624124527], "current_quaternion_xyzw": [0.996271782937712, -0.05931792024773536, -0.0597879197708492, 0.018690198208426195], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 161, "position_m": [0.47540655732154846, -0.027906831353902817, 0.40812262892723083]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/071e3bcfc28a18c8/00000_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00000_wrist_image_left.jpg"], "task_source": "updated_droid_annotations_lab_and_timestamp", "target_command_step": 169, "feedback_step": 170}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44260373711586, -0.0327201709151268, 0.4800671935081482], "quaternion_xyzw": [0.9973546071813646, -0.05479485473977712, -0.04461843649065538, 0.017044252793303277]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 170, "eef_pose": {"position_m": [0.442639023065567, -0.03268603980541229, 0.4799734354019165], "quaternion_xyzw": [0.9973513946288275, -0.05476311577570995, -0.044722247565840666, 0.017062161502243357]}, "gripper_closure": 0.0, "images": ["images/071e3bcfc28a18c8/00170_exterior_image_1_left.jpg", "images/071e3bcfc28a18c8/00170_exterior_image_2_left.jpg", "images/071e3bcfc28a18c8/00170_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.00010583295079413801, "orientation_residual_rad": 0.0002201376254357056, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 170, EEF displacement is 2.84 cm; remaining target position residual is 0.01 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 170, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.028412896545107192, "position_residual_m": 0.00010583295079413801, "orientation_residual_rad": 0.0002201376254357056}, "provenance": {"observation_step": 164, "target_command_step": 169, "feedback_step": 170, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "ad4d5fe5687613a1", "decision_index": 0, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.4470774829387665, 0.12138853967189789, 0.5774615406990051], "quaternion_xyzw": [-0.9942468415301343, -0.026839143255165718, -0.09243979383889486, 0.046986838707272355]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00000_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00000_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with middle fork", "intent": "Align the end effector for a candidate interaction with middle fork.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with middle fork. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 1, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 10, "eef_pose": {"position_m": [0.47043877840042114, 0.09382458031177521, 0.5684050917625427], "quaternion_xyzw": [-0.9894282037671017, 0.06227819180253267, -0.12580845653846204, 0.036407261355717174]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00010_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00010_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00010_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4989280700683594, 0.06754542142152786, 0.5471556782722473], "quaternion_xyzw": [-0.9815360720345967, 0.13088453946668435, -0.13797239760394742, 0.020488878029484372]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 10, "eef_pose": {"position_m": [0.47043877840042114, 0.09382458031177521, 0.5684050917625427], "quaternion_xyzw": [-0.9894282037671017, 0.06227819180253267, -0.12580845653846204, 0.036407261355717174]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00010_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00010_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00010_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.04420148953795433, "orientation_residual_rad": 0.14384300366958666, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 1, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with middle fork", "intent": "Align the end effector for a candidate interaction with middle fork.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 2, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 13, "eef_pose": {"position_m": [0.4982345998287201, 0.05035949870944023, 0.5437493324279785], "quaternion_xyzw": [-0.9801425000995331, 0.14290712614313825, -0.1351274370325375, 0.025274662355084625]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00013_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00013_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00013_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4989280700683594, 0.06754542142152786, 0.5471556782722473], "quaternion_xyzw": [-0.9815360720345967, 0.13088453946668435, -0.13797239760394742, 0.020488878029484372]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 10, "eef_pose": {"position_m": [0.47043877840042114, 0.09382458031177521, 0.5684050917625427], "quaternion_xyzw": [-0.9894282037671017, 0.06227819180253267, -0.12580845653846204, 0.036407261355717174]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00010_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00010_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00010_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.04420148953795433, "orientation_residual_rad": 0.14384300366958666, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5220692753791809, 0.029060423374176025, 0.5253671407699585], "quaternion_xyzw": [-0.9659072166755897, 0.21292558199058012, -0.14679163095199071, 0.011754249888563285]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 13, "eef_pose": {"position_m": [0.4982345998287201, 0.05035949870944023, 0.5437493324279785], "quaternion_xyzw": [-0.9801425000995331, 0.14290712614313825, -0.1351274370325375, 0.025274662355084625]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00013_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00013_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00013_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03687339648604393, "orientation_residual_rad": 0.14733005020904014, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 2, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with middle fork", "intent": "Align the end effector for a candidate interaction with middle fork.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Attempt to acquire middle fork; closure alone cannot verify a grasp. Increase closure toward 1.00 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 22, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 243, "eef_pose": {"position_m": [0.6543127298355103, -0.17711366713047028, 0.20072808861732483], "quaternion_xyzw": [0.9680588457025747, -0.23037591820411127, 0.09458914967650527, 0.02901551881471108]}, "gripper_closure": 0.9911894202232361, "images": ["images/ad4d5fe5687613a1/00243_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00243_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00243_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.647697925567627, -0.177725151181221, 0.1900472342967987], "quaternion_xyzw": [0.9676413094386374, -0.23418118888253883, 0.08874092361386679, 0.030895234545118833]}, "gripper_closure": 0.42621147632598877, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 228, "eef_pose": {"position_m": [0.6495118737220764, -0.18261799216270447, 0.1916300505399704], "quaternion_xyzw": [0.9695540044411172, -0.22727083140829274, 0.0861015320306712, 0.029992129720125247]}, "gripper_closure": 0.1938326358795166, "images": ["images/ad4d5fe5687613a1/00228_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00228_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00228_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.00545303663238883, "orientation_residual_rad": 0.015387491132677412, "gripper_residual": 0.23237884044647217, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6533657908439636, -0.1735912710428238, 0.20386400818824768], "quaternion_xyzw": [0.9647356617930688, -0.2448912174567916, 0.09343478963266401, 0.024152320044244894]}, "gripper_closure": 1.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 243, "eef_pose": {"position_m": [0.6543127298355103, -0.17711366713047028, 0.20072808861732483], "quaternion_xyzw": [0.9680588457025747, -0.23037591820411127, 0.09458914967650527, 0.02901551881471108]}, "gripper_closure": 0.9911894202232361, "images": ["images/ad4d5fe5687613a1/00243_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00243_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00243_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.004810193553566933, "orientation_residual_rad": 0.0314150146167427, "gripper_residual": 0.008810579776763916, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 22, "subgoal": {"id": "sg-003", "phase": "open_gripper", "title": "Open gripper / inspect release: middle fork", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.99 (0 open, 1 closed). 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 28, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 325, "eef_pose": {"position_m": [0.6488617658615112, -0.1824607253074646, 0.18354898691177368], "quaternion_xyzw": [0.9606028197190232, -0.26517483695825067, 0.0793393050899458, 0.02509588133282725]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00325_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00325_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00325_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6490732431411743, -0.18064992129802704, 0.1810218095779419], "quaternion_xyzw": [0.9621353756918388, -0.26119028056091115, 0.07530289198581344, 0.020115432916288416]}, "gripper_closure": 0.4878854751586914, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 310, "eef_pose": {"position_m": [0.6437447667121887, -0.1790391504764557, 0.18491248786449432], "quaternion_xyzw": [0.9620998235995816, -0.2635678983637345, 0.0661000056208997, 0.02294954550083923]}, "gripper_closure": 0.2378854602575302, "images": ["images/ad4d5fe5687613a1/00310_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00310_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00310_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.006791511084884405, "orientation_residual_rad": 0.019837383750054692, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6540971398353577, -0.18658700585365295, 0.18939483165740967], "quaternion_xyzw": [0.9561119414046665, -0.280331769252721, 0.0832861726754937, 0.01809607946785331]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 325, "eef_pose": {"position_m": [0.6488617658615112, -0.1824607253074646, 0.18354898691177368], "quaternion_xyzw": [0.9606028197190232, -0.26517483695825067, 0.0793393050899458, 0.02509588133282725]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00325_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00325_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00325_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.008866184391081333, "orientation_residual_rad": 0.03546738310540616, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 28, "subgoal": {"id": "sg-006", "phase": "raise_with_closure", "title": "Raise candidate interaction: middle fork", "intent": "Raise the end effector while maintaining closure; retention of middle fork remains unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.82 (0 open, 1 closed). 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Object contact and task completion require observation.", "observed_facts": ["At frame 325, recorded EEF XYZ is (0.649, -0.182, 0.184) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 310, EEF displacement is 0.63 cm."], "task_context": "The instruction requests: Put the middle fork in the middle section of the white object.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.66 cm of EEF translation (−X 1.83 cm, −Y 2.08 cm, +Z 8.21 cm), 5.5° orientation change, and gripper closure 0.96.", "intent": "Raise the end effector while maintaining closure; retention of middle fork remains unverified.", "translation_delta_m": [-0.018291473388671875, -0.020770922303199768, 0.08208838105201721], "translation_norm_m": 0.08662858371112407, "orientation_delta_rad": 0.09616851597430015, "gripper_from": 0.8237885236740112, "gripper_target": 0.9559471607208252, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 325, "current_images": ["images/ad4d5fe5687613a1/00325_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00325_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00325_wrist_image_left.jpg"], "current_position_m": [0.6488617658615112, -0.1824607253074646, 0.18354898691177368], "current_quaternion_xyzw": [0.9606028197190232, -0.26517483695825067, 0.0793393050899458, 0.02509588133282725], "current_gripper_closure": 0.8237885236740112, "previous_observation": {"source_step": 310, "position_m": [0.6437447667121887, -0.1790391504764557, 0.18491248786449432]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/ad4d5fe5687613a1/00000_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 333, "feedback_step": 334}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6305702924728394, -0.20323164761066437, 0.2656373679637909], "quaternion_xyzw": [0.9481008233519916, -0.2956759349826994, 0.1143369464724097, 0.02465021100817112]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 334, "eef_pose": {"position_m": [0.6494909524917603, -0.20552389323711395, 0.23557662963867188], "quaternion_xyzw": [0.9512187663405035, -0.28546712135575836, 0.11307051101298134, 0.030107154062953483]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00334_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00334_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00334_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.03559345006942749, "orientation_residual_rad": 0.024110187918809124, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 334, EEF displacement is 5.69 cm; remaining target position residual is 3.56 cm and orientation residual is 1.4°. 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Raise the end effector while maintaining closure; retention of middle fork remains unverified. Increase closure toward 0.96 while requesting the labeled pose. 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Reposition the candidate interaction with middle fork; object attachment is unverified. Increase closure toward 0.96 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 38, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 417, "eef_pose": {"position_m": [0.6225030422210693, 0.1302642822265625, 0.3810383379459381], "quaternion_xyzw": [-0.9310156723815427, 0.20109112629564813, -0.29478686529949594, 0.07663472288713842]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00417_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00417_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00417_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6224952936172485, 0.12011825293302536, 0.38509681820869446], "quaternion_xyzw": [-0.9336402701156478, 0.19444175526523805, -0.28828673257175313, 0.08601749619034563]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 402, "eef_pose": {"position_m": [0.6291451454162598, 0.09943205863237381, 0.38945576548576355], "quaternion_xyzw": [-0.9430151029559352, 0.17677741731734598, -0.26565483432018516, 0.09433858874252263]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00402_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00402_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00402_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02216167002916336, "orientation_residual_rad": 0.0626558853334866, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6225024461746216, 0.13026566803455353, 0.3810359835624695], "quaternion_xyzw": [-0.9310160648372475, 0.2010915262234937, -0.29478512715778904, 0.07663559161798254]}, "gripper_closure": 0.8237885236740112, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 417, "eef_pose": {"position_m": [0.6225030422210693, 0.1302642822265625, 0.3810383379459381], "quaternion_xyzw": [-0.9310156723815427, 0.20109112629564813, -0.29478686529949594, 0.07663472288713842]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00417_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00417_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00417_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 2.7962219064647797e-06, "orientation_residual_rad": 4.044647640884709e-06, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 38, "subgoal": {"id": "sg-008", "phase": "close_gripper", "title": "Attempt grasp: middle fork", "intent": "Attempt to acquire middle fork; closure alone cannot verify a grasp.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.82 (0 open, 1 closed). 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Reposition the candidate interaction with middle fork; object attachment is unverified. Increase closure toward 0.96 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 40, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6308703422546387, 0.19133998453617096, 0.37928834557533264], "quaternion_xyzw": [-0.8984448445361547, 0.22173675546477056, -0.3727939870315712, 0.06822254638655818]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00441_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00441_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6285553574562073, 0.15865686535835266, 0.3891970217227936], "quaternion_xyzw": [-0.9077544542066212, 0.2164280660153496, -0.3517079444224357, 0.07377170825621225]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 432, "eef_pose": {"position_m": [0.6264767646789551, 0.1369730830192566, 0.38801997900009155], "quaternion_xyzw": [-0.9206649112397567, 0.2043251773233651, -0.3245778589702525, 0.07263991044841017]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00432_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00432_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00432_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.02181495726108551, "orientation_residual_rad": 0.06482512755785466, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.632773220539093, 0.21328899264335632, 0.3717747926712036], "quaternion_xyzw": [-0.8838578190278621, 0.2231713783567543, -0.40618617466347884, 0.06326676171503649]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6308703422546387, 0.19133998453617096, 0.37928834557533264], "quaternion_xyzw": [-0.8984448445361547, 0.22173675546477056, -0.3727939870315712, 0.06822254638655818]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00441_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00441_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.023277314379811287, "orientation_residual_rad": 0.07360951990764561, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 40, "subgoal": {"id": "sg-009", "phase": "move_with_closure", "title": "Reposition candidate interaction: middle fork", "intent": "Reposition the candidate interaction with middle fork; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.82 (0 open, 1 closed). 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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.96 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 44, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 496, "eef_pose": {"position_m": [0.6221455335617065, 0.2889360785484314, 0.285738080739975], "quaternion_xyzw": [-0.890939173875108, 0.14771272631455074, -0.4292446149468319, 0.012545894890714355]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00496_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00496_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00496_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6302775740623474, 0.2840370535850525, 0.3051093518733978], "quaternion_xyzw": [-0.8773325362597816, 0.17160571041592543, -0.44689697306428533, 0.03349920056664316]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 481, "eef_pose": {"position_m": [0.6273621916770935, 0.27690985798835754, 0.312264621257782], "quaternion_xyzw": [-0.8801608274108196, 0.18116302351959074, -0.4376085575639577, 0.03155355998194504]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00481_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00481_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00481_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.010511624626815319, "orientation_residual_rad": 0.027524871217051695, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6251794099807739, 0.29805031418800354, 0.28231069445610046], "quaternion_xyzw": [-0.888179614273857, 0.136692307519063, -0.43843988657768834, 0.014921518394597816]}, "gripper_closure": 0.9559471607208252, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 496, "eef_pose": {"position_m": [0.6221455335617065, 0.2889360785484314, 0.285738080739975], "quaternion_xyzw": [-0.890939173875108, 0.14771272631455074, -0.4292446149468319, 0.012545894890714355]}, "gripper_closure": 0.8237885236740112, "images": ["images/ad4d5fe5687613a1/00496_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00496_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00496_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.010199052281677723, "orientation_residual_rad": 0.0296152267208887, "gripper_residual": 0.13215863704681396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 44, "subgoal": {"id": "sg-011", "phase": "open_gripper", "title": "Open gripper / inspect release: middle fork", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.82 (0 open, 1 closed). 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "ad4d5fe5687613a1", "decision_index": 48, "split": "test", "task": "Put the middle fork in the middle section of the white object", "instruction_available": true, "observation": {"source_step": 539, "eef_pose": {"position_m": [0.6403300762176514, 0.22591350972652435, 0.36276936531066895], "quaternion_xyzw": [-0.9488036992848355, 0.14856610452486782, -0.2774084814345775, 0.02727979541490665]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00539_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00539_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00539_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6467442512512207, 0.24365641176700592, 0.34215542674064636], "quaternion_xyzw": [-0.9288649609854409, 0.1506272087608572, -0.336067105234706, 0.039752094455435004]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 528, "eef_pose": {"position_m": [0.645416796207428, 0.25054243206977844, 0.32591313123703003], "quaternion_xyzw": [-0.9205185948692579, 0.14321312593577343, -0.36141489891153344, 0.038920276263116546]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00528_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00528_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00528_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.017691567540168762, "orientation_residual_rad": 0.05542137323920048, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.630194902420044, 0.2099265158176422, 0.3767887055873871], "quaternion_xyzw": [-0.956610667709742, 0.14017143678740138, -0.25392501255753674, 0.027750436582732584]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 539, "eef_pose": {"position_m": [0.6403300762176514, 0.22591350972652435, 0.36276936531066895], "quaternion_xyzw": [-0.9488036992848355, 0.14856610452486782, -0.2774084814345775, 0.02727979541490665]}, "gripper_closure": 0.0, "images": ["images/ad4d5fe5687613a1/00539_exterior_image_1_left.jpg", "images/ad4d5fe5687613a1/00539_exterior_image_2_left.jpg", "images/ad4d5fe5687613a1/00539_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.023555204272270203, "orientation_residual_rad": 0.052274387863399274, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 48, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 557, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03126850690968094, "position_residual_m": 4.2353945900686085e-05, "orientation_residual_rad": 7.086836995776123e-05}, "provenance": {"observation_step": 547, "target_command_step": 556, "feedback_step": 557, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "b21bfa43de05addd", "decision_index": 0, "split": "test", "task": "Move the vaseline closer to the mirror", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.4124186933040619, 0.03255565091967583, 0.39400795102119446], "quaternion_xyzw": [0.994395545740931, -0.02128319730771925, 0.10185936976825373, 0.018686704186951505]}, "gripper_closure": 0.0, "images": ["images/b21bfa43de05addd/00000_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00000_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with vaseline container", "intent": "Align the end effector for a candidate interaction with vaseline container.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Reposition the candidate interaction with vaseline container; object attachment is unverified. Increase closure toward 0.65 while requesting the labeled pose. 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{"episode_id": "b21bfa43de05addd", "decision_index": 11, "split": "test", "task": "Move the vaseline closer to the mirror", "instruction_available": true, "observation": {"source_step": 85, "eef_pose": {"position_m": [0.5352468490600586, -0.0743856430053711, 0.23556743562221527], "quaternion_xyzw": [0.9384843102283802, -0.3437609589548868, 0.03259494419590764, 0.0036293479364491827]}, "gripper_closure": 0.607929527759552, "images": ["images/b21bfa43de05addd/00085_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00085_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00085_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.525606632232666, -0.09252380579710007, 0.24236372113227844], "quaternion_xyzw": [0.9316689405099573, -0.36114307855925737, 0.039267505879859395, 0.0051696305255537365]}, "gripper_closure": 0.6039726734161377, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 81, "eef_pose": {"position_m": [0.5236726999282837, -0.12235404551029205, 0.22256670892238617], "quaternion_xyzw": [0.9209446561090113, -0.3890014566083701, 0.02108999949276807, 0.009696342723731145]}, "gripper_closure": 0.5638766884803772, "images": ["images/b21bfa43de05addd/00081_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00081_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00081_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.03585394099354744, "orientation_residual_rad": 0.07048803972503177, "gripper_residual": 0.0400959849357605, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.536683201789856, -0.05867842584848404, 0.24014005064964294], "quaternion_xyzw": [0.9455027912198612, -0.3239116491972232, 0.032719009144975254, 0.005931420601950381]}, "gripper_closure": 0.6545461416244507, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 85, "eef_pose": {"position_m": [0.5352468490600586, -0.0743856430053711, 0.23556743562221527], "quaternion_xyzw": [0.9384843102283802, -0.3437609589548868, 0.03259494419590764, 0.0036293479364491827]}, "gripper_closure": 0.607929527759552, "images": ["images/b21bfa43de05addd/00085_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00085_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00085_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.016422197222709656, "orientation_residual_rad": 0.042359691821761705, "gripper_residual": 0.04661661386489868, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 11, "subgoal": {"id": "sg-006", "phase": "close_gripper", "title": "Attempt grasp: vaseline container", "intent": "Attempt to acquire vaseline container; closure alone cannot verify a grasp.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.61 (0 open, 1 closed). 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Raise the end effector while maintaining closure; retention of vaseline container remains unverified. Maintain closure toward 0.61 while requesting the labeled pose. 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Reposition the candidate interaction with vaseline container; object attachment is unverified. Increase closure toward 0.86 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of vaseline container remains unverified. Increase closure toward 0.86 while requesting the labeled pose. 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Reposition the candidate interaction with vaseline container; object attachment is unverified. Maintain closure toward 0.60 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 245, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05583410621215057, "position_residual_m": 0.04197901487350464, "orientation_residual_rad": 0.05934317311408044}, "provenance": {"observation_step": 240, "target_command_step": 244, "feedback_step": 245, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "b21bfa43de05addd", "decision_index": 27, "split": "test", "task": "Move the vaseline closer to the mirror", "instruction_available": true, "observation": {"source_step": 245, "eef_pose": {"position_m": [0.585852324962616, -0.008290165103971958, 0.28188982605934143], "quaternion_xyzw": [-0.8932944119330437, 0.4463450540004459, -0.014456451013245893, 0.050913626885523734]}, "gripper_closure": 0.0, "images": ["images/b21bfa43de05addd/00245_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00245_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00245_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5876431465148926, -0.007563943974673748, 0.2906149923801422], "quaternion_xyzw": [-0.8818798168186585, 0.46623917083340294, -0.027696055950752106, 0.0643580045778524]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 240, "eef_pose": {"position_m": [0.6414825320243835, -0.007932350970804691, 0.2771359384059906], "quaternion_xyzw": [-0.8668304644338783, 0.49466402086870687, -0.025166316991578164, 0.05726350387838339]}, "gripper_closure": 0.0, "images": ["images/b21bfa43de05addd/00240_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00240_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00240_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05550225451588631, "orientation_residual_rad": 0.06606923231178051, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.545206606388092, -0.0035293230321258307, 0.29124385118484497], "quaternion_xyzw": [-0.9058981802706592, 0.41980036266092924, -0.018100702633028244, 0.05280631644274397]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 245, "eef_pose": {"position_m": [0.585852324962616, -0.008290165103971958, 0.28188982605934143], "quaternion_xyzw": [-0.8932944119330437, 0.4463450540004459, -0.014456451013245893, 0.050913626885523734]}, "gripper_closure": 0.0, "images": ["images/b21bfa43de05addd/00245_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00245_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00245_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04197901487350464, "orientation_residual_rad": 0.05934317311408044, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 251, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05117978382261442, "position_residual_m": 0.035459209233522415, "orientation_residual_rad": 0.07505330637948583}, "provenance": {"observation_step": 245, "target_command_step": 250, "feedback_step": 251, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 251, recorded EEF XYZ is (0.535, -0.004, 0.285) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 245, EEF displacement is 5.12 cm."], "task_context": "The instruction requests: Move the vaseline closer to the mirror.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.58 cm of EEF translation (−X 2.94 cm, +Y 0.15 cm, +Z 2.03 cm), 6.4° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.02939772605895996, 0.0014527461025863886, 0.02034500241279602], "translation_norm_m": 0.03578066365864263, "orientation_delta_rad": 0.11195547496377997, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 251, "current_images": ["images/b21bfa43de05addd/00251_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00251_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00251_wrist_image_left.jpg"], "current_position_m": [0.5349435210227966, -0.003991646692156792, 0.2849207818508148], "current_quaternion_xyzw": [-0.9219732266861138, 0.3848401151343015, 0.0014478223972110584, 0.04314346842477232], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 245, "position_m": [0.585852324962616, -0.008290165103971958, 0.28188982605934143]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/b21bfa43de05addd/00000_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 257, "feedback_step": 258}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5055457949638367, -0.002538900589570403, 0.30526578426361084], "quaternion_xyzw": [-0.9415663940241702, 0.3334502981655024, -0.008252580879000103, 0.04685636783292417]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 258, "eef_pose": {"position_m": [0.5054529309272766, -0.002530227415263653, 0.30535683035850525], "quaternion_xyzw": [-0.9415744707505792, 0.333422902213295, -0.008308172502412739, 0.04687919133368243]}, "gripper_closure": 0.0, "images": ["images/b21bfa43de05addd/00258_exterior_image_1_left.jpg", "images/b21bfa43de05addd/00258_exterior_image_2_left.jpg", "images/b21bfa43de05addd/00258_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.00013033933646511286, "orientation_residual_rad": 0.00013307310004631365, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 258, EEF displacement is 3.59 cm; remaining target position residual is 0.01 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 258, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03590908978369592, "position_residual_m": 0.00013033933646511286, "orientation_residual_rad": 0.00013307310004631365}, "provenance": {"observation_step": 251, "target_command_step": 257, "feedback_step": 258, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 0, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.36918264627456665, -0.12598098814487457, 0.4007359445095062], "quaternion_xyzw": [-0.992673765137801, 0.05764266094844326, 0.03777051338830498, 0.09924468733543536]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with computer mouse", "intent": "Align the end effector for a candidate interaction with computer mouse.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with computer mouse. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "8eb80eebbb415199", "decision_index": 1, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 14, "eef_pose": {"position_m": [0.39077141880989075, -0.17471179366111755, 0.41135022044181824], "quaternion_xyzw": [-0.9917890884033731, 0.097762830299793, 0.025758413902139645, 0.078315625829244]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00014_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00014_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00014_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41604921221733093, -0.20612308382987976, 0.4024854898452759], "quaternion_xyzw": [-0.9925772750445073, 0.105208347409518, 0.022819270345304076, 0.05657594543166372]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 14, "eef_pose": {"position_m": [0.39077141880989075, -0.17471179366111755, 0.41135022044181824], "quaternion_xyzw": [-0.9917890884033731, 0.097762830299793, 0.025758413902139645, 0.078315625829244]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00014_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00014_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00014_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.04128219187259674, "orientation_residual_rad": 0.04636090128576183, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 1, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with computer mouse", "intent": "Align the end effector for a candidate interaction with computer mouse.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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{"episode_id": "8eb80eebbb415199", "decision_index": 3, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 24, "eef_pose": {"position_m": [0.43532201647758484, -0.2673739194869995, 0.3757649064064026], "quaternion_xyzw": [-0.9922632769351201, 0.114037449182561, 0.028240941705032805, 0.040143475703093956]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00024_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00024_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00024_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44070562720298767, -0.25270816683769226, 0.3847883343696594], "quaternion_xyzw": [-0.9932992501651967, 0.10311234277917229, 0.022528592366842876, 0.04708404096737054]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 19, "eef_pose": {"position_m": [0.4178369641304016, -0.22104541957378387, 0.3990143835544586], "quaternion_xyzw": [-0.992725906205637, 0.1061151265856905, 0.013395703733896522, 0.0552757648465686]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00019_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00019_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00019_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.0415678471326828, "orientation_residual_rad": 0.025287274144223815, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45120489597320557, -0.2993914783000946, 0.35828760266304016], "quaternion_xyzw": [-0.992008033547678, 0.11716662202362371, 0.02893725757019481, 0.03680596670050753]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 24, "eef_pose": {"position_m": [0.43532201647758484, -0.2673739194869995, 0.3757649064064026], "quaternion_xyzw": [-0.9922632769351201, 0.114037449182561, 0.028240941705032805, 0.040143475703093956]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00024_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00024_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00024_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.0397849977016449, "orientation_residual_rad": 0.009269462214021654, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 3, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with computer mouse", "intent": "Align the end effector for a candidate interaction with computer mouse.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Align the end effector for a candidate interaction with computer mouse. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "8eb80eebbb415199", "decision_index": 5, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 36, "eef_pose": {"position_m": [0.4548783600330353, -0.32578542828559875, 0.2999809682369232], "quaternion_xyzw": [-0.989896839949423, 0.1371527495122469, 0.03483573579020929, 0.008935383110532807]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00036_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00036_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00036_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.455005019903183, -0.32510876655578613, 0.3280511796474457], "quaternion_xyzw": [-0.9901934171828927, 0.13160165058423345, 0.037290240608898344, 0.02841549025622897]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 29, "eef_pose": {"position_m": [0.4440401494503021, -0.3081849217414856, 0.34650495648384094], "quaternion_xyzw": [-0.9902379188273085, 0.13124503542126775, 0.034995178296685074, 0.03128805346796531]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00029_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00029_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00029_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02733471803367138, "orientation_residual_rad": 0.007388667191238987, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4601913392543793, -0.3320220708847046, 0.27689650654792786], "quaternion_xyzw": [-0.9890730451491949, 0.14507877191743926, 0.025505985883766402, 0.006008825369682131]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 36, "eef_pose": {"position_m": [0.4548783600330353, -0.32578542828559875, 0.2999809682369232], "quaternion_xyzw": [-0.989896839949423, 0.1371527495122469, 0.03483573579020929, 0.008935383110532807]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00036_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00036_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00036_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.024495219811797142, "orientation_residual_rad": 0.025227885544673083, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 5, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with computer mouse", "intent": "Align the end effector for a candidate interaction with computer mouse.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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{"episode_id": "8eb80eebbb415199", "decision_index": 7, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 60, "eef_pose": {"position_m": [0.4638964831829071, -0.3246154189109802, 0.2301045060157776], "quaternion_xyzw": [-0.9862938940825395, 0.15939543090592997, 0.03391335173818287, 0.025832841030271846]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00060_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00060_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00060_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4648715853691101, -0.33556053042411804, 0.23600198328495026], "quaternion_xyzw": [-0.9830199859000665, 0.18076697721608945, 0.013477317666779358, 0.02851962793761103]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 45, "eef_pose": {"position_m": [0.45941388607025146, -0.3322325348854065, 0.2494392693042755], "quaternion_xyzw": [-0.9849742424525953, 0.1697581640970801, 0.022087270355677216, 0.022804822199701553]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00045_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00045_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00045_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.014880278147757053, "orientation_residual_rad": 0.03045047472612494, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4674569368362427, -0.33031222224235535, 0.21715091168880463], "quaternion_xyzw": [-0.9872701381440685, 0.1530747998548003, 0.03461338274967775, 0.02583976998792556]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 60, "eef_pose": {"position_m": [0.4638964831829071, -0.3246154189109802, 0.2301045060157776], "quaternion_xyzw": [-0.9862938940825395, 0.15939543090592997, 0.03391335173818287, 0.025832841030271846]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00060_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00060_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00060_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.014591983519494534, "orientation_residual_rad": 0.012867581523467262, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 7, "subgoal": {"id": "sg-002", "phase": "close_gripper", "title": "Attempt grasp: computer mouse", "intent": "Attempt to acquire computer mouse; closure alone cannot verify a grasp.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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Make a small pose adjustment and assess the next observation before advancing the task. Increase closure toward 0.47 while requesting the labeled pose. 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{"episode_id": "8eb80eebbb415199", "decision_index": 13, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 89, "eef_pose": {"position_m": [0.4717746376991272, -0.33464571833610535, 0.2178686410188675], "quaternion_xyzw": [-0.9923863776174714, 0.11427697535399568, 0.04519599731379688, 0.008208060064778984]}, "gripper_closure": 0.4801762104034424, "images": ["images/8eb80eebbb415199/00089_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00089_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00089_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4739021062850952, -0.33748355507850647, 0.21241632103919983], "quaternion_xyzw": [-0.9928210296397241, 0.11046748617480262, 0.045644756332196015, 0.004460249176029161]}, "gripper_closure": 0.5318719744682312, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 85, "eef_pose": {"position_m": [0.47052332758903503, -0.3342788517475128, 0.21681152284145355], "quaternion_xyzw": [-0.9915725756018114, 0.12125083035671916, 0.04361498299620781, 0.01340882956996401]}, "gripper_closure": 0.5022026300430298, "images": ["images/8eb80eebbb415199/00085_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00085_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00085_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.00640344200655818, "orientation_residual_rad": 0.028428128446110857, "gripper_residual": 0.029669344425201416, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4745248854160309, -0.33697640895843506, 0.21289977431297302], "quaternion_xyzw": [-0.9932772703948836, 0.10597812424473317, 0.04654646028018093, 0.0015258878866986918]}, "gripper_closure": 0.49987563490867615, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 89, "eef_pose": {"position_m": [0.4717746376991272, -0.33464571833610535, 0.2178686410188675], "quaternion_xyzw": [-0.9923863776174714, 0.11427697535399568, 0.04519599731379688, 0.008208060064778984]}, "gripper_closure": 0.4801762104034424, "images": ["images/8eb80eebbb415199/00089_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00089_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00089_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.006138861179351807, "orientation_residual_rad": 0.021553739255239023, "gripper_residual": 0.019699424505233765, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 13, "subgoal": {"id": "sg-004", "phase": "close_gripper", "title": "Attempt grasp: computer mouse", "intent": "Attempt to acquire computer mouse; closure alone cannot verify a grasp.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 104, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0028778893283507904, "position_residual_m": 0.0056433300487697124, "orientation_residual_rad": 0.01440402365859863}, "provenance": {"observation_step": 89, "target_command_step": 103, "feedback_step": 104, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 104, recorded EEF XYZ is (0.472, -0.333, 0.216) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 89, EEF displacement is 0.29 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.31 cm of EEF translation (−X 0.13 cm, −Y 0.66 cm, −Z 3.24 cm), 5.5° orientation change, and gripper closure 0.95.", "intent": "Lower the candidate interaction toward its next position; contact is unverified.", "translation_delta_m": [-0.0013244152069091797, -0.006610274314880371, -0.03239120543003082], "translation_norm_m": 0.03308534405697964, "orientation_delta_rad": 0.09646445438798834, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 104, "current_images": ["images/8eb80eebbb415199/00104_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00104_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00104_wrist_image_left.jpg"], "current_position_m": [0.47241097688674927, -0.3330205976963043, 0.21558034420013428], "current_quaternion_xyzw": [-0.993466030214816, 0.10154974828456112, 0.05207390369593415, 0.0010972631512333822], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 89, "position_m": [0.4717746376991272, -0.33464571833610535, 0.2178686410188675]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 118, "feedback_step": 119}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4710865616798401, -0.3396308720111847, 0.18318913877010345], "quaternion_xyzw": [0.9927643462252987, -0.11701881584002839, -0.01347618050415461, 0.02332256766036666]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.473354309797287, -0.3396710157394409, 0.19253340363502502], "quaternion_xyzw": [0.9933886685388493, -0.11089990536525898, -0.025101429151924468, 0.01581399579864351]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00119_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00119_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.009615590795874596, "orientation_residual_rad": 0.030289290852450867, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 119, EEF displacement is 2.40 cm; remaining target position residual is 0.96 cm and orientation residual is 1.7°. 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{"episode_id": "8eb80eebbb415199", "decision_index": 15, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 119, "eef_pose": {"position_m": [0.473354309797287, -0.3396710157394409, 0.19253340363502502], "quaternion_xyzw": [0.9933886685388493, -0.11089990536525898, -0.025101429151924468, 0.01581399579864351]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00119_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00119_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47194644808769226, -0.33449313044548035, 0.21015235781669617], "quaternion_xyzw": [0.99300193420066, -0.10530508212415478, -0.05323338029434201, 0.004919916158969855]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 104, "eef_pose": {"position_m": [0.47241097688674927, -0.3330205976963043, 0.21558034420013428], "quaternion_xyzw": [-0.993466030214816, 0.10154974828456112, 0.05207390369593415, 0.0010972631512333822]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00104_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00104_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00104_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.0056433300487697124, "orientation_residual_rad": 0.01440402365859863, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4710865616798401, -0.3396308720111847, 0.18318913877010345], "quaternion_xyzw": [0.9927643462252987, -0.11701881584002839, -0.01347618050415461, 0.02332256766036666]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.473354309797287, -0.3396710157394409, 0.19253340363502502], "quaternion_xyzw": [0.9933886685388493, -0.11089990536525898, -0.025101429151924468, 0.01581399579864351]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00119_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00119_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.009615590795874596, "orientation_residual_rad": 0.030289290852450867, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 15, "subgoal": {"id": "sg-006", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 119, recorded EEF XYZ is (0.473, -0.340, 0.193) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 104, EEF displacement is 2.40 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.71 cm of EEF translation (−X 0.79 cm, +Y 2.44 cm, +Z 0.89 cm), 9.1° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.00788736343383789, 0.02435845136642456, 0.008935630321502686], "translation_norm_m": 0.0271180778107607, "orientation_delta_rad": 0.158451210953729, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 119, "current_images": ["images/8eb80eebbb415199/00119_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00119_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00119_wrist_image_left.jpg"], "current_position_m": [0.473354309797287, -0.3396710157394409, 0.19253340363502502], "current_quaternion_xyzw": [0.9933886685388493, -0.11089990536525898, -0.025101429151924468, 0.01581399579864351], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 104, "position_m": [0.47241097688674927, -0.3330205976963043, 0.21558034420013428]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 133, "feedback_step": 134}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4654669463634491, -0.31531256437301636, 0.2014690339565277], "quaternion_xyzw": [0.9898250587233363, -0.12273193000357925, 0.039190018200684074, 0.06039345125401118]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 134, "eef_pose": {"position_m": [0.4731406569480896, -0.32847315073013306, 0.1889418214559555], "quaternion_xyzw": [0.9909636377543563, -0.11806401909549318, 0.031546583004657076, 0.055288056073644884]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00134_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00134_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00134_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01972353644669056, "orientation_residual_rad": 0.020743565782265962, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 134, EEF displacement is 1.18 cm; remaining target position residual is 1.97 cm and orientation residual is 1.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 134, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.011761687415318486, "position_residual_m": 0.01972353644669056, "orientation_residual_rad": 0.020743565782265962}, "provenance": {"observation_step": 119, "target_command_step": 133, "feedback_step": 134, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Raise the end effector while maintaining closure; retention of computer mouse remains unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 134, recorded EEF XYZ is (0.473, -0.328, 0.189) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 119, EEF displacement is 1.18 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.83 cm of EEF translation (−X 1.77 cm, +Y 4.70 cm, +Z 6.00 cm), 2.4° orientation change, and gripper closure 0.95.", "intent": "Raise the end effector while maintaining closure; retention of computer mouse remains unverified.", "translation_delta_m": [-0.017711937427520752, 0.047014325857162476, 0.06002131104469299], "translation_norm_m": 0.07827271135436444, "orientation_delta_rad": 0.04193250057955194, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 134, "current_images": ["images/8eb80eebbb415199/00134_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00134_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00134_wrist_image_left.jpg"], "current_position_m": [0.4731406569480896, -0.32847315073013306, 0.1889418214559555], "current_quaternion_xyzw": [0.9909636377543563, -0.11806401909549318, 0.031546583004657076, 0.055288056073644884], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 119, "position_m": [0.473354309797287, -0.3396710157394409, 0.19253340363502502]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 146, "feedback_step": 147}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45542871952056885, -0.2814588248729706, 0.2489631325006485], "quaternion_xyzw": [0.9929163089465217, -0.10145026050727053, 0.019385630471130625, 0.058730276708519415]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.47005414962768555, -0.2963709235191345, 0.23147563636302948], "quaternion_xyzw": [0.9913051032923724, -0.11017321308532099, 0.035662638820969726, 0.062483849891635954]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00147_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00147_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.027241261675953865, "orientation_residual_rad": 0.03782733729544088, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 147, EEF displacement is 5.34 cm; remaining target position residual is 2.72 cm and orientation residual is 2.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 147, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05337794422694369, "position_residual_m": 0.027241261675953865, "orientation_residual_rad": 0.03782733729544088}, "provenance": {"observation_step": 134, "target_command_step": 146, "feedback_step": 147, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 17, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 147, "eef_pose": {"position_m": [0.47005414962768555, -0.2963709235191345, 0.23147563636302948], "quaternion_xyzw": [0.9913051032923724, -0.11017321308532099, 0.035662638820969726, 0.062483849891635954]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00147_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00147_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4654669463634491, -0.31531256437301636, 0.2014690339565277], "quaternion_xyzw": [0.9898250587233363, -0.12273193000357925, 0.039190018200684074, 0.06039345125401118]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 134, "eef_pose": {"position_m": [0.4731406569480896, -0.32847315073013306, 0.1889418214559555], "quaternion_xyzw": [0.9909636377543563, -0.11806401909549318, 0.031546583004657076, 0.055288056073644884]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00134_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00134_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00134_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01972353644669056, "orientation_residual_rad": 0.020743565782265962, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45542871952056885, -0.2814588248729706, 0.2489631325006485], "quaternion_xyzw": [0.9929163089465217, -0.10145026050727053, 0.019385630471130625, 0.058730276708519415]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.47005414962768555, -0.2963709235191345, 0.23147563636302948], "quaternion_xyzw": [0.9913051032923724, -0.11017321308532099, 0.035662638820969726, 0.062483849891635954]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00147_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00147_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.027241261675953865, "orientation_residual_rad": 0.03782733729544088, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 17, "subgoal": {"id": "sg-007", "phase": "raise_with_closure", "title": "Raise candidate interaction: computer mouse", "intent": "Raise the end effector while maintaining closure; retention of computer mouse remains unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Raise the end effector while maintaining closure; retention of computer mouse remains unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 147, recorded EEF XYZ is (0.470, -0.296, 0.231) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 134, EEF displacement is 5.34 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.79 cm of EEF translation (−X 4.70 cm, +Y 4.52 cm, +Z 4.25 cm), 8.2° orientation change, and gripper closure 0.95.", "intent": "Raise the end effector while maintaining closure; retention of computer mouse remains unverified.", "translation_delta_m": [-0.0470256507396698, 0.045221149921417236, 0.04247809946537018], "translation_norm_m": 0.07785083918555138, "orientation_delta_rad": 0.14298735238307808, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 147, "current_images": ["images/8eb80eebbb415199/00147_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00147_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00147_wrist_image_left.jpg"], "current_position_m": [0.47005414962768555, -0.2963709235191345, 0.23147563636302948], "current_quaternion_xyzw": [0.9913051032923724, -0.11017321308532099, 0.035662638820969726, 0.062483849891635954], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 134, "position_m": [0.4731406569480896, -0.32847315073013306, 0.1889418214559555]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 157, "feedback_step": 158}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42302849888801575, -0.2511497735977173, 0.27395373582839966], "quaternion_xyzw": [0.9957998424018114, -0.04826271578410655, 0.0036626318405677057, 0.07771723917941517]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 158, "eef_pose": {"position_m": [0.4404716491699219, -0.26573482155799866, 0.2613995671272278], "quaternion_xyzw": [0.9958656356574836, -0.057709060065174816, 0.008822990839820282, 0.06959493469751049]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00158_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00158_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00158_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.02597295306622982, "orientation_residual_rad": 0.026969734121197585, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 158, EEF displacement is 5.20 cm; remaining target position residual is 2.60 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 158, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05204936799892228, "position_residual_m": 0.02597295306622982, "orientation_residual_rad": 0.026969734121197585}, "provenance": {"observation_step": 147, "target_command_step": 157, "feedback_step": 158, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 158, recorded EEF XYZ is (0.440, -0.266, 0.261) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 147, EEF displacement is 5.20 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.86 cm of EEF translation (−X 5.00 cm, +Y 5.21 cm, +Z 3.10 cm), 10.8° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.05002465844154358, 0.052146151661872864, 0.03100714087486267], "translation_norm_m": 0.07863288351936308, "orientation_delta_rad": 0.189088562486488, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 158, "current_images": ["images/8eb80eebbb415199/00158_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00158_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00158_wrist_image_left.jpg"], "current_position_m": [0.4404716491699219, -0.26573482155799866, 0.2613995671272278], "current_quaternion_xyzw": [0.9958656356574836, -0.057709060065174816, 0.008822990839820282, 0.06959493469751049], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 147, "position_m": [0.47005414962768555, -0.2963709235191345, 0.23147563636302948]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 170, "feedback_step": 171}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3904469907283783, -0.2135886698961258, 0.29240670800209045], "quaternion_xyzw": [0.9943366374731835, 0.028475235980869498, -0.013105993385937528, 0.10154824100753389]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4075973927974701, -0.22909840941429138, 0.28133901953697205], "quaternion_xyzw": [0.9954337417319475, 0.01759281570795606, -0.0053919788567099065, 0.09366474908421646]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00171_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00171_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.02563556097447872, "orientation_residual_rad": 0.03106709034035577, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 171, EEF displacement is 5.31 cm; remaining target position residual is 2.56 cm and orientation residual is 1.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 171, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0531086169016453, "position_residual_m": 0.02563556097447872, "orientation_residual_rad": 0.03106709034035577}, "provenance": {"observation_step": 158, "target_command_step": 170, "feedback_step": 171, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 19, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4075973927974701, -0.22909840941429138, 0.28133901953697205], "quaternion_xyzw": [0.9954337417319475, 0.01759281570795606, -0.0053919788567099065, 0.09366474908421646]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00171_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00171_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42302849888801575, -0.2511497735977173, 0.27395373582839966], "quaternion_xyzw": [0.9957998424018114, -0.04826271578410655, 0.0036626318405677057, 0.07771723917941517]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 158, "eef_pose": {"position_m": [0.4404716491699219, -0.26573482155799866, 0.2613995671272278], "quaternion_xyzw": [0.9958656356574836, -0.057709060065174816, 0.008822990839820282, 0.06959493469751049]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00158_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00158_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00158_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.02597295306622982, "orientation_residual_rad": 0.026969734121197585, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3904469907283783, -0.2135886698961258, 0.29240670800209045], "quaternion_xyzw": [0.9943366374731835, 0.028475235980869498, -0.013105993385937528, 0.10154824100753389]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4075973927974701, -0.22909840941429138, 0.28133901953697205], "quaternion_xyzw": [0.9954337417319475, 0.01759281570795606, -0.0053919788567099065, 0.09366474908421646]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00171_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00171_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.02563556097447872, "orientation_residual_rad": 0.03106709034035577, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 19, "subgoal": {"id": "sg-008", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 186, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0518364425070396, "position_residual_m": 0.020088905468583107, "orientation_residual_rad": 0.028879922855622946}, "provenance": {"observation_step": 171, "target_command_step": 185, "feedback_step": 186, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 215, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05325872145288459, "position_residual_m": 0.015194615349173546, "orientation_residual_rad": 0.032243488071108994}, "provenance": {"observation_step": 200, "target_command_step": 214, "feedback_step": 215, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. 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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 238, recorded EEF XYZ is (0.523, -0.052, 0.329) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 228, EEF displacement is 5.50 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.60 cm of EEF translation (+X 7.54 cm, +Y 0.77 cm, −Z 0.42 cm), 3.3° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [0.07544857263565063, 0.0077491141855716705, -0.004177004098892212], "translation_norm_m": 0.07596040578261967, "orientation_delta_rad": 0.05685264632752057, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 238, "current_images": ["images/8eb80eebbb415199/00238_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00238_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00238_wrist_image_left.jpg"], "current_position_m": [0.5231769680976868, -0.05207538977265358, 0.3288761377334595], "current_quaternion_xyzw": [0.9591295802030883, 0.22484601922174388, -0.03743444526461052, 0.1676704455988403], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 228, "position_m": [0.47257447242736816, -0.07268518954515457, 0.33488988876342773]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 246, "feedback_step": 247}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5986255407333374, -0.04432627558708191, 0.32469913363456726], "quaternion_xyzw": [0.9601725239244367, 0.2342400809755229, -0.04986981442268008, 0.14392119501520614]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 247, "eef_pose": {"position_m": [0.5766748189926147, -0.04385858401656151, 0.3253605365753174], "quaternion_xyzw": [0.9597926837767038, 0.22836797040880377, -0.03580105487132236, 0.1592619186440263]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00247_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00247_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00247_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.021965663880109787, "orientation_residual_rad": 0.04326254743621322, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 247, EEF displacement is 5.42 cm; remaining target position residual is 2.20 cm and orientation residual is 2.5°. 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{"episode_id": "8eb80eebbb415199", "decision_index": 25, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 247, "eef_pose": {"position_m": [0.5766748189926147, -0.04385858401656151, 0.3253605365753174], "quaternion_xyzw": [0.9597926837767038, 0.22836797040880377, -0.03580105487132236, 0.1592619186440263]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00247_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00247_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00247_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5501863360404968, -0.04670661687850952, 0.3277437090873718], "quaternion_xyzw": [0.9602455306294764, 0.2191007246904539, -0.04511061593153771, 0.16699828045974158]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 238, "eef_pose": {"position_m": [0.5231769680976868, -0.05207538977265358, 0.3288761377334595], "quaternion_xyzw": [0.9591295802030883, 0.22484601922174388, -0.03743444526461052, 0.1676704455988403]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00238_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00238_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00238_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.027561061084270477, "orientation_residual_rad": 0.019352507561706245, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5986255407333374, -0.04432627558708191, 0.32469913363456726], "quaternion_xyzw": [0.9601725239244367, 0.2342400809755229, -0.04986981442268008, 0.14392119501520614]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 247, "eef_pose": {"position_m": [0.5766748189926147, -0.04385858401656151, 0.3253605365753174], "quaternion_xyzw": [0.9597926837767038, 0.22836797040880377, -0.03580105487132236, 0.1592619186440263]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00247_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00247_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00247_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.021965663880109787, "orientation_residual_rad": 0.04326254743621322, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 25, "subgoal": {"id": "sg-008", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 247, recorded EEF XYZ is (0.577, -0.044, 0.325) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 238, EEF displacement is 5.42 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.62 cm of EEF translation (+X 6.28 cm, −Y 2.10 cm, −Z 0.15 cm), 14.1° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [0.06277966499328613, -0.021027717739343643, -0.0014837682247161865], "translation_norm_m": 0.06622426155223946, "orientation_delta_rad": 0.24564220896100883, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 247, "current_images": ["images/8eb80eebbb415199/00247_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00247_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00247_wrist_image_left.jpg"], "current_position_m": [0.5766748189926147, -0.04385858401656151, 0.3253605365753174], "current_quaternion_xyzw": [0.9597926837767038, 0.22836797040880377, -0.03580105487132236, 0.1592619186440263], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 238, "position_m": [0.5231769680976868, -0.05207538977265358, 0.3288761377334595]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 261, "feedback_step": 262}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6394544839859009, -0.06488630175590515, 0.3238767683506012], "quaternion_xyzw": [0.9492123991327374, 0.2917245833163719, -0.09336964355549296, 0.071935377137277]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 262, "eef_pose": {"position_m": [0.623813271522522, -0.05874484032392502, 0.32093894481658936], "quaternion_xyzw": [0.9518048112798373, 0.2802776036490183, -0.07796790613447518, 0.09712400182407355]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00262_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00262_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00262_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01705860160291195, "orientation_residual_rad": 0.06354586368925354, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 262, EEF displacement is 4.96 cm; remaining target position residual is 1.71 cm and orientation residual is 3.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 262, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0496304826436706, "position_residual_m": 0.01705860160291195, "orientation_residual_rad": 0.06354586368925354}, "provenance": {"observation_step": 247, "target_command_step": 261, "feedback_step": 262, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Raise the end effector while maintaining closure; retention of computer mouse remains unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 262, recorded EEF XYZ is (0.624, -0.059, 0.321) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 247, EEF displacement is 4.96 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.08 cm of EEF translation (+X 3.17 cm, −Y 2.13 cm, +Z 3.35 cm), 14.2° orientation change, and gripper closure 0.95.", "intent": "Raise the end effector while maintaining closure; retention of computer mouse remains unverified.", "translation_delta_m": [0.031735002994537354, -0.021298468112945557, 0.0334964394569397], "translation_norm_m": 0.050820730172970556, "orientation_delta_rad": 0.24747283069288903, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 262, "current_images": ["images/8eb80eebbb415199/00262_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00262_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00262_wrist_image_left.jpg"], "current_position_m": [0.623813271522522, -0.05874484032392502, 0.32093894481658936], "current_quaternion_xyzw": [0.9518048112798373, 0.2802776036490183, -0.07796790613447518, 0.09712400182407355], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 247, "position_m": [0.5766748189926147, -0.04385858401656151, 0.3253605365753174]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 271, "feedback_step": 272}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6555482745170593, -0.08004330843687057, 0.35443538427352905], "quaternion_xyzw": [-0.9382524258826309, -0.3191893127958691, 0.13330546522913672, 0.005497350480233378]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 272, "eef_pose": {"position_m": [0.6390897631645203, -0.07209587097167969, 0.3459623157978058], "quaternion_xyzw": [0.9409375717634668, 0.31449122708102684, -0.12268515088961413, 0.02607887812260259]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00272_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00272_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.02014540322124958, "orientation_residual_rad": 0.06750524301630104, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 272, EEF displacement is 3.22 cm; remaining target position residual is 2.01 cm and orientation residual is 3.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 272, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03221475301021122, "position_residual_m": 0.02014540322124958, "orientation_residual_rad": 0.06750524301630104}, "provenance": {"observation_step": 262, "target_command_step": 271, "feedback_step": 272, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 27, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 272, "eef_pose": {"position_m": [0.6390897631645203, -0.07209587097167969, 0.3459623157978058], "quaternion_xyzw": [0.9409375717634668, 0.31449122708102684, -0.12268515088961413, 0.02607887812260259]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00272_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00272_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6394544839859009, -0.06488630175590515, 0.3238767683506012], "quaternion_xyzw": [0.9492123991327374, 0.2917245833163719, -0.09336964355549296, 0.071935377137277]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 262, "eef_pose": {"position_m": [0.623813271522522, -0.05874484032392502, 0.32093894481658936], "quaternion_xyzw": [0.9518048112798373, 0.2802776036490183, -0.07796790613447518, 0.09712400182407355]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00262_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00262_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00262_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01705860160291195, "orientation_residual_rad": 0.06354586368925354, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6555482745170593, -0.08004330843687057, 0.35443538427352905], "quaternion_xyzw": [-0.9382524258826309, -0.3191893127958691, 0.13330546522913672, 0.005497350480233378]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 272, "eef_pose": {"position_m": [0.6390897631645203, -0.07209587097167969, 0.3459623157978058], "quaternion_xyzw": [0.9409375717634668, 0.31449122708102684, -0.12268515088961413, 0.02607887812260259]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00272_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00272_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.02014540322124958, "orientation_residual_rad": 0.06750524301630104, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-010", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 272, recorded EEF XYZ is (0.639, -0.072, 0.346) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 262, EEF displacement is 3.22 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.20 cm of EEF translation (+X 3.77 cm, −Y 4.56 cm, +Z 1.86 cm), 10.2° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [0.03765839338302612, -0.045612722635269165, 0.018565982580184937], "translation_norm_m": 0.06199492533716346, "orientation_delta_rad": 0.17847648372178637, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 272, "current_images": ["images/8eb80eebbb415199/00272_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00272_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00272_wrist_image_left.jpg"], "current_position_m": [0.6390897631645203, -0.07209587097167969, 0.3459623157978058], "current_quaternion_xyzw": [0.9409375717634668, 0.31449122708102684, -0.12268515088961413, 0.02607887812260259], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 262, "position_m": [0.623813271522522, -0.05874484032392502, 0.32093894481658936]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 282, "feedback_step": 283}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6767481565475464, -0.11770859360694885, 0.3645282983779907], "quaternion_xyzw": [-0.9389247593162864, -0.32234641626263605, 0.1040157917963205, 0.060776634675453925]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 283, "eef_pose": {"position_m": [0.66392582654953, -0.11013728380203247, 0.3668466806411743], "quaternion_xyzw": [-0.9424247348177701, -0.3161402979895125, 0.10414522955595112, 0.03232185563200122]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00283_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00283_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00283_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.015070227906107903, "orientation_residual_rad": 0.05866919610838055, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 283, EEF displacement is 5.00 cm; remaining target position residual is 1.51 cm and orientation residual is 3.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 283, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.050001358276595645, "position_residual_m": 0.015070227906107903, "orientation_residual_rad": 0.05866919610838055}, "provenance": {"observation_step": 272, "target_command_step": 282, "feedback_step": 283, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 283, recorded EEF XYZ is (0.664, -0.110, 0.367) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 272, EEF displacement is 5.00 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.45 cm of EEF translation (−X 9.57 cm, −Y 0.18 cm, −Z 4.20 cm), 12.7° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.09572476148605347, -0.0017786994576454163, -0.041964590549468994], "translation_norm_m": 0.10453430342862115, "orientation_delta_rad": 0.22146804018834487, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 283, "current_images": ["images/8eb80eebbb415199/00283_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00283_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00283_wrist_image_left.jpg"], "current_position_m": [0.66392582654953, -0.11013728380203247, 0.3668466806411743], "current_quaternion_xyzw": [-0.9424247348177701, -0.3161402979895125, 0.10414522955595112, 0.03232185563200122], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 272, "position_m": [0.6390897631645203, -0.07209587097167969, 0.3459623157978058]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 296, "feedback_step": 297}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5682010650634766, -0.11191598325967789, 0.3248820900917053], "quaternion_xyzw": [-0.9702100251603556, -0.21075689160172711, 0.10793368214527119, 0.0512285074863962]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 297, "eef_pose": {"position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817], "quaternion_xyzw": [-0.9653693187072282, -0.23253413879749288, 0.1110658012182151, 0.040673585927558674]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00297_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00297_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00297_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.05446530506014824, "orientation_residual_rad": 0.04975658330441429, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 297, EEF displacement is 5.63 cm; remaining target position residual is 5.45 cm and orientation residual is 2.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 297, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05628769088511312, "position_residual_m": 0.05446530506014824, "orientation_residual_rad": 0.04975658330441429}, "provenance": {"observation_step": 283, "target_command_step": 296, "feedback_step": 297, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 29, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 297, "eef_pose": {"position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817], "quaternion_xyzw": [-0.9653693187072282, -0.23253413879749288, 0.1110658012182151, 0.040673585927558674]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00297_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00297_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00297_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6767481565475464, -0.11770859360694885, 0.3645282983779907], "quaternion_xyzw": [-0.9389247593162864, -0.32234641626263605, 0.1040157917963205, 0.060776634675453925]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 283, "eef_pose": {"position_m": [0.66392582654953, -0.11013728380203247, 0.3668466806411743], "quaternion_xyzw": [-0.9424247348177701, -0.3161402979895125, 0.10414522955595112, 0.03232185563200122]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00283_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00283_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00283_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.015070227906107903, "orientation_residual_rad": 0.05866919610838055, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5682010650634766, -0.11191598325967789, 0.3248820900917053], "quaternion_xyzw": [-0.9702100251603556, -0.21075689160172711, 0.10793368214527119, 0.0512285074863962]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 297, "eef_pose": {"position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817], "quaternion_xyzw": [-0.9653693187072282, -0.23253413879749288, 0.1110658012182151, 0.040673585927558674]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00297_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00297_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00297_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.05446530506014824, "orientation_residual_rad": 0.04975658330441429, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 29, "subgoal": {"id": "sg-010", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 297, recorded EEF XYZ is (0.622, -0.114, 0.329) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 283, EEF displacement is 5.63 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.97 cm of EEF translation (−X 9.92 cm, −Y 0.27 cm, −Z 0.92 cm), 5.6° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.0992249846458435, -0.0026567429304122925, -0.009240895509719849], "translation_norm_m": 0.0996897688370664, "orientation_delta_rad": 0.0976616541274678, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 297, "current_images": ["images/8eb80eebbb415199/00297_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00297_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00297_wrist_image_left.jpg"], "current_position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817], "current_quaternion_xyzw": [-0.9653693187072282, -0.23253413879749288, 0.1110658012182151, 0.040673585927558674], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 283, "position_m": [0.66392582654953, -0.11013728380203247, 0.3668466806411743]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 300, "feedback_step": 301}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5232343077659607, -0.11691746860742569, 0.3197662830352783], "quaternion_xyzw": [-0.9710885738608944, -0.19534854557858283, 0.1173116766379448, 0.07116107068854946]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 301, "eef_pose": {"position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785], "quaternion_xyzw": [-0.9660554401318281, -0.2143109550577171, 0.13269445500865873, 0.056567506078172194]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00301_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00301_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00301_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04958856478333473, "orientation_residual_rad": 0.057777692817831156, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 301, EEF displacement is 5.13 cm; remaining target position residual is 4.96 cm and orientation residual is 3.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 301, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05127221831641127, "position_residual_m": 0.04958856478333473, "orientation_residual_rad": 0.057777692817831156}, "provenance": {"observation_step": 297, "target_command_step": 300, "feedback_step": 301, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 30, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 301, "eef_pose": {"position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785], "quaternion_xyzw": [-0.9660554401318281, -0.2143109550577171, 0.13269445500865873, 0.056567506078172194]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00301_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00301_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00301_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5682010650634766, -0.11191598325967789, 0.3248820900917053], "quaternion_xyzw": [-0.9702100251603556, -0.21075689160172711, 0.10793368214527119, 0.0512285074863962]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 297, "eef_pose": {"position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817], "quaternion_xyzw": [-0.9653693187072282, -0.23253413879749288, 0.1110658012182151, 0.040673585927558674]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00297_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00297_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00297_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.05446530506014824, "orientation_residual_rad": 0.04975658330441429, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5232343077659607, -0.11691746860742569, 0.3197662830352783], "quaternion_xyzw": [-0.9710885738608944, -0.19534854557858283, 0.1173116766379448, 0.07116107068854946]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 301, "eef_pose": {"position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785], "quaternion_xyzw": [-0.9660554401318281, -0.2143109550577171, 0.13269445500865873, 0.056567506078172194]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00301_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00301_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00301_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04958856478333473, "orientation_residual_rad": 0.057777692817831156, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 30, "subgoal": {"id": "sg-010", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 301, recorded EEF XYZ is (0.573, -0.117, 0.317) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 297, EEF displacement is 5.13 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.40 cm of EEF translation (−X 8.97 cm, −Y 2.47 cm, +Z 1.31 cm), 13.0° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.08971706032752991, -0.024662122130393982, 0.013071060180664062], "translation_norm_m": 0.09395862810851727, "orientation_delta_rad": 0.22675449747292958, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 301, "current_images": ["images/8eb80eebbb415199/00301_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00301_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00301_wrist_image_left.jpg"], "current_position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785], "current_quaternion_xyzw": [-0.9660554401318281, -0.2143109550577171, 0.13269445500865873, 0.056567506078172194], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 297, "position_m": [0.6224592924118042, -0.1142607256770134, 0.32900717854499817]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 305, "feedback_step": 306}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4830181300640106, -0.141731858253479, 0.32989367842674255], "quaternion_xyzw": [-0.9856483641473355, -0.12340407651831957, 0.07552673295718139, 0.08697383952176142]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 306, "eef_pose": {"position_m": [0.5217598676681519, -0.13077104091644287, 0.3203337490558624], "quaternion_xyzw": [-0.9754114665668833, -0.17213699769063315, 0.11449078503352748, 0.07637529088850348]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00306_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00306_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00306_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04138180613517761, "orientation_residual_rad": 0.12824393727508426, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 306, EEF displacement is 5.29 cm; remaining target position residual is 4.14 cm and orientation residual is 7.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 306, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05290120338288658, "position_residual_m": 0.04138180613517761, "orientation_residual_rad": 0.12824393727508426}, "provenance": {"observation_step": 301, "target_command_step": 305, "feedback_step": 306, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 31, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 306, "eef_pose": {"position_m": [0.5217598676681519, -0.13077104091644287, 0.3203337490558624], "quaternion_xyzw": [-0.9754114665668833, -0.17213699769063315, 0.11449078503352748, 0.07637529088850348]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00306_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00306_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00306_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5232343077659607, -0.11691746860742569, 0.3197662830352783], "quaternion_xyzw": [-0.9710885738608944, -0.19534854557858283, 0.1173116766379448, 0.07116107068854946]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 301, "eef_pose": {"position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785], "quaternion_xyzw": [-0.9660554401318281, -0.2143109550577171, 0.13269445500865873, 0.056567506078172194]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00301_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00301_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00301_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04958856478333473, "orientation_residual_rad": 0.057777692817831156, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4830181300640106, -0.141731858253479, 0.32989367842674255], "quaternion_xyzw": [-0.9856483641473355, -0.12340407651831957, 0.07552673295718139, 0.08697383952176142]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 306, "eef_pose": {"position_m": [0.5217598676681519, -0.13077104091644287, 0.3203337490558624], "quaternion_xyzw": [-0.9754114665668833, -0.17213699769063315, 0.11449078503352748, 0.07637529088850348]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00306_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00306_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00306_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04138180613517761, "orientation_residual_rad": 0.12824393727508426, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 31, "subgoal": {"id": "sg-010", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 306, recorded EEF XYZ is (0.522, -0.131, 0.320) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 301, EEF displacement is 5.29 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.38 cm of EEF translation (−X 6.69 cm, −Y 4.88 cm, +Z 1.32 cm), 18.5° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.06686437129974365, -0.04882149398326874, 0.01319071650505066], "translation_norm_m": 0.08383541868437792, "orientation_delta_rad": 0.3226454215979322, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 306, "current_images": ["images/8eb80eebbb415199/00306_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00306_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00306_wrist_image_left.jpg"], "current_position_m": [0.5217598676681519, -0.13077104091644287, 0.3203337490558624], "current_quaternion_xyzw": [-0.9754114665668833, -0.17213699769063315, 0.11449078503352748, 0.07637529088850348], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 301, "position_m": [0.5727351903915405, -0.11706973612308502, 0.3168226182460785]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 309, "feedback_step": 310}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4548954963684082, -0.1795925348997116, 0.3335244655609131], "quaternion_xyzw": [-0.9920830321316438, -0.03364812830031855, 0.042693919089267805, 0.11320905481085854]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 310, "eef_pose": {"position_m": [0.48777899146080017, -0.1612144559621811, 0.3306739628314972], "quaternion_xyzw": [-0.9878968002053625, -0.09709871807240661, 0.07385074588162076, 0.09580093123466875]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00310_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00310_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00310_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0377783477306366, "orientation_residual_rad": 0.14587186579375047, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 310, EEF displacement is 4.68 cm; remaining target position residual is 3.78 cm and orientation residual is 8.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 310, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04678056742272658, "position_residual_m": 0.0377783477306366, "orientation_residual_rad": 0.14587186579375047}, "provenance": {"observation_step": 306, "target_command_step": 309, "feedback_step": 310, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 310, recorded EEF XYZ is (0.488, -0.161, 0.331) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 306, EEF displacement is 4.68 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.47 cm of EEF translation (−X 6.07 cm, −Y 5.91 cm, −Z 0.06 cm), 17.1° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.06073892116546631, -0.059059783816337585, -0.0005999207496643066], "translation_norm_m": 0.08472092134581127, "orientation_delta_rad": 0.29836802257094025, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 310, "current_images": ["images/8eb80eebbb415199/00310_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00310_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00310_wrist_image_left.jpg"], "current_position_m": [0.48777899146080017, -0.1612144559621811, 0.3306739628314972], "current_quaternion_xyzw": [-0.9878968002053625, -0.09709871807240661, 0.07385074588162076, 0.09580093123466875], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 306, "position_m": [0.5217598676681519, -0.13077104091644287, 0.3203337490558624]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 313, "feedback_step": 314}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42704007029533386, -0.22027423977851868, 0.3300740420818329], "quaternion_xyzw": [-0.9908429738219072, 0.04099070544330935, 0.026593694344245567, 0.1258679415742703]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 314, "eef_pose": {"position_m": [0.45281580090522766, -0.2030908614397049, 0.3320681154727936], "quaternion_xyzw": [-0.9916040077071517, -0.014957858802388112, 0.05187563830223834, 0.11750179790070567]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00314_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00314_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00314_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.031042439863085747, "orientation_residual_rad": 0.12395514490591267, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 314, EEF displacement is 5.46 cm; remaining target position residual is 3.10 cm and orientation residual is 7.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 314, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05457107009332412, "position_residual_m": 0.031042439863085747, "orientation_residual_rad": 0.12395514490591267}, "provenance": {"observation_step": 310, "target_command_step": 313, "feedback_step": 314, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 33, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 314, "eef_pose": {"position_m": [0.45281580090522766, -0.2030908614397049, 0.3320681154727936], "quaternion_xyzw": [-0.9916040077071517, -0.014957858802388112, 0.05187563830223834, 0.11750179790070567]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00314_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00314_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00314_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4548954963684082, -0.1795925348997116, 0.3335244655609131], "quaternion_xyzw": [-0.9920830321316438, -0.03364812830031855, 0.042693919089267805, 0.11320905481085854]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 310, "eef_pose": {"position_m": [0.48777899146080017, -0.1612144559621811, 0.3306739628314972], "quaternion_xyzw": [-0.9878968002053625, -0.09709871807240661, 0.07385074588162076, 0.09580093123466875]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00310_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00310_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00310_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0377783477306366, "orientation_residual_rad": 0.14587186579375047, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42704007029533386, -0.22027423977851868, 0.3300740420818329], "quaternion_xyzw": [-0.9908429738219072, 0.04099070544330935, 0.026593694344245567, 0.1258679415742703]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 314, "eef_pose": {"position_m": [0.45281580090522766, -0.2030908614397049, 0.3320681154727936], "quaternion_xyzw": [-0.9916040077071517, -0.014957858802388112, 0.05187563830223834, 0.11750179790070567]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00314_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00314_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00314_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.031042439863085747, "orientation_residual_rad": 0.12395514490591267, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 33, "subgoal": {"id": "sg-010", "phase": "move_with_closure", "title": "Reposition candidate interaction: computer mouse", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). Reposition the candidate interaction with computer mouse; object attachment is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 314, recorded EEF XYZ is (0.453, -0.203, 0.332) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 310, EEF displacement is 5.46 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.19 cm of EEF translation (−X 3.76 cm, −Y 5.80 cm, −Z 1.98 cm), 16.5° orientation change, and gripper closure 0.95.", "intent": "Reposition the candidate interaction with computer mouse; object attachment is unverified.", "translation_delta_m": [-0.03760629892349243, -0.05795685946941376, -0.01981756091117859], "translation_norm_m": 0.07187466172962985, "orientation_delta_rad": 0.287715341980621, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 314, "current_images": ["images/8eb80eebbb415199/00314_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00314_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00314_wrist_image_left.jpg"], "current_position_m": [0.45281580090522766, -0.2030908614397049, 0.3320681154727936], "current_quaternion_xyzw": [-0.9916040077071517, -0.014957858802388112, 0.05187563830223834, 0.11750179790070567], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 310, "position_m": [0.48777899146080017, -0.1612144559621811, 0.3306739628314972]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 317, "feedback_step": 318}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41520950198173523, -0.26104772090911865, 0.312250554561615], "quaternion_xyzw": [-0.9861662682352041, 0.11552271332896581, -0.008152904386048392, 0.11859226049889168]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 318, "eef_pose": {"position_m": [0.42564094066619873, -0.2461729645729065, 0.3259883224964142], "quaternion_xyzw": [-0.9903460180822188, 0.06501088243408032, 0.02242583372365701, 0.12035543866246706]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00318_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00318_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00318_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.022777171805500984, "orientation_residual_rad": 0.11845858077497813, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 318, EEF displacement is 5.13 cm; remaining target position residual is 2.28 cm and orientation residual is 6.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 318, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05129819219062409, "position_residual_m": 0.022777171805500984, "orientation_residual_rad": 0.11845858077497813}, "provenance": {"observation_step": 314, "target_command_step": 317, "feedback_step": 318, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 318, recorded EEF XYZ is (0.426, -0.246, 0.326) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 314, EEF displacement is 5.13 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.52 cm of EEF translation (+X 0.19 cm, −Y 4.38 cm, −Z 6.11 cm), 13.9° orientation change, and gripper closure 0.95.", "intent": "Lower the candidate interaction toward its next position; contact is unverified.", "translation_delta_m": [0.0018889009952545166, -0.04379764199256897, -0.061094045639038086], "translation_norm_m": 0.07519497193046874, "orientation_delta_rad": 0.24211440835169215, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 318, "current_images": ["images/8eb80eebbb415199/00318_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00318_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00318_wrist_image_left.jpg"], "current_position_m": [0.42564094066619873, -0.2461729645729065, 0.3259883224964142], "current_quaternion_xyzw": [-0.9903460180822188, 0.06501088243408032, 0.02242583372365701, 0.12035543866246706], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 314, "position_m": [0.45281580090522766, -0.2030908614397049, 0.3320681154727936]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 323, "feedback_step": 324}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42752984166145325, -0.28997060656547546, 0.2648942768573761], "quaternion_xyzw": [-0.9817174783933547, 0.15738161309076681, -0.05072042860887943, 0.09428286482533776]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 324, "eef_pose": {"position_m": [0.4182406961917877, -0.28184613585472107, 0.297018438577652], "quaternion_xyzw": [-0.9836694503773876, 0.1429191175280233, -0.03522488458303765, 0.10357483162125446]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00324_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00324_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00324_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.034413035959005356, "orientation_residual_rad": 0.0464521583687564, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 324, EEF displacement is 4.65 cm; remaining target position residual is 3.44 cm and orientation residual is 2.7°. 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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 329, recorded EEF XYZ is (0.429, -0.289, 0.248) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 324, EEF displacement is 5.08 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.99 cm of EEF translation (+X 2.71 cm, −Y 1.24 cm, −Z 6.33 cm), 3.9° orientation change, and gripper closure 0.95.", "intent": "Lower the candidate interaction toward its next position; contact is unverified.", "translation_delta_m": [0.027104735374450684, -0.012430459260940552, -0.06327040493488312], "translation_norm_m": 0.06994517236937073, "orientation_delta_rad": 0.06828244314584922, "gripper_from": 0.7973568439483643, "gripper_target": 0.9493392109870911, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 329, "current_images": ["images/8eb80eebbb415199/00329_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00329_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00329_wrist_image_left.jpg"], "current_position_m": [0.4294052720069885, -0.2886618673801422, 0.24789556860923767], "current_quaternion_xyzw": [-0.9834017845404612, 0.15783068656343904, -0.05201426186952666, 0.0728348893300321], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 324, "position_m": [0.4182406961917877, -0.28184613585472107, 0.297018438577652]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 335, "feedback_step": 336}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4565100073814392, -0.30109232664108276, 0.18462516367435455], "quaternion_xyzw": [-0.9856533436441999, 0.14711504741651227, -0.06915318888119062, 0.04541459516728974]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 336, "eef_pose": {"position_m": [0.4491488039493561, -0.29037389159202576, 0.20028747618198395], "quaternion_xyzw": [-0.9857919280508525, 0.14894095904462673, -0.06129885043095531, 0.04767930625012243]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00336_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00336_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00336_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.020356331020593643, "orientation_residual_rad": 0.01675387931740974, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 336, EEF displacement is 5.16 cm; remaining target position residual is 2.04 cm and orientation residual is 1.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 336, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0515680961935119, "position_residual_m": 0.020356331020593643, "orientation_residual_rad": 0.01675387931740974}, "provenance": {"observation_step": 329, "target_command_step": 335, "feedback_step": 336, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 37, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 336, "eef_pose": {"position_m": [0.4491488039493561, -0.29037389159202576, 0.20028747618198395], "quaternion_xyzw": [-0.9857919280508525, 0.14894095904462673, -0.06129885043095531, 0.04767930625012243]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00336_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00336_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00336_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4415439963340759, -0.29692503809928894, 0.21917124092578888], "quaternion_xyzw": [-0.983898337521073, 0.15518257349292297, -0.06325590043167963, 0.06213792214066896]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 329, "eef_pose": {"position_m": [0.4294052720069885, -0.2886618673801422, 0.24789556860923767], "quaternion_xyzw": [-0.9834017845404612, 0.15783068656343904, -0.05201426186952666, 0.0728348893300321]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00329_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00329_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00329_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03226012364029884, "orientation_residual_rad": 0.031500078744984436, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4565100073814392, -0.30109232664108276, 0.18462516367435455], "quaternion_xyzw": [-0.9856533436441999, 0.14711504741651227, -0.06915318888119062, 0.04541459516728974]}, "gripper_closure": 0.9493392109870911, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 336, "eef_pose": {"position_m": [0.4491488039493561, -0.29037389159202576, 0.20028747618198395], "quaternion_xyzw": [-0.9857919280508525, 0.14894095904462673, -0.06129885043095531, 0.04767930625012243]}, "gripper_closure": 0.7973568439483643, "images": ["images/8eb80eebbb415199/00336_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00336_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00336_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.020356331020593643, "orientation_residual_rad": 0.01675387931740974, "gripper_residual": 0.1519823670387268, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 37, "subgoal": {"id": "sg-012", "phase": "open_gripper", "title": "Open gripper / inspect release: computer mouse", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.80 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 346, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.030210131840740232, "position_residual_m": 0.0062187896110117435, "orientation_residual_rad": 0.027026863194318254}, "provenance": {"observation_step": 336, "target_command_step": 345, "feedback_step": 346, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 346, recorded EEF XYZ is (0.459, -0.303, 0.175) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 336, EEF displacement is 3.02 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.70 cm of EEF translation (−X 1.06 cm, +Y 7.51 cm, +Z 7.54 cm), 15.7° orientation change, and gripper closure 0.00.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [-0.010589838027954102, 0.07510574162006378, 0.07542845606803894], "translation_norm_m": 0.10696947732211355, "orientation_delta_rad": 0.2732511012213582, "gripper_from": 0.7797356843948364, "gripper_target": 0.004405308980494738, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 346, "current_images": ["images/8eb80eebbb415199/00346_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00346_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00346_wrist_image_left.jpg"], "current_position_m": [0.45869237184524536, -0.3031000792980194, 0.17460447549819946], "current_quaternion_xyzw": [-0.9860769748458484, 0.14528198051601912, -0.06446960247067303, 0.04887756308856421], "current_gripper_closure": 0.7797356843948364, "previous_observation": {"source_step": 336, "position_m": [0.4491488039493561, -0.29037389159202576, 0.20028747618198395]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 358, "feedback_step": 359}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44810253381729126, -0.22799433767795563, 0.2500329315662384], "quaternion_xyzw": [-0.9927264033926602, 0.016830945635642, -0.1101135443052278, 0.04567290922006106]}, "gripper_closure": 0.004405308980494738, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 359, "eef_pose": {"position_m": [0.47336918115615845, -0.2595037817955017, 0.21473568677902222], "quaternion_xyzw": [-0.9940119133124259, 0.05577925701788316, -0.08519457224177493, 0.03963427229109094]}, "gripper_closure": 0.004405308980494738, "images": ["images/8eb80eebbb415199/00359_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00359_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00359_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.053639017045497894, "orientation_residual_rad": 0.0933046303607133, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 359, EEF displacement is 6.10 cm; remaining target position residual is 5.36 cm and orientation residual is 5.3°. 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{"episode_id": "8eb80eebbb415199", "decision_index": 41, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 367, "eef_pose": {"position_m": [0.45497968792915344, -0.1779063194990158, 0.3018935024738312], "quaternion_xyzw": [-0.9829410824266899, -0.06800387198897545, -0.16508336853600375, 0.04415635067756817]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00367_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00367_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00367_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4369052052497864, -0.18826942145824432, 0.2894889712333679], "quaternion_xyzw": [-0.9868204626938797, -0.04146495593111898, -0.1483499735918896, 0.04958141964035717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 363, "eef_pose": {"position_m": [0.4646521806716919, -0.21818426251411438, 0.2584419250488281], "quaternion_xyzw": [-0.9917132726271064, -0.0023927037151711726, -0.12034923034302003, 0.04489011717526261]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00363_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00363_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00363_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05127096176147461, "orientation_residual_rad": 0.09709981211038306, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42934224009513855, -0.15427541732788086, 0.32844534516334534], "quaternion_xyzw": [-0.9736853727221401, -0.10785591241453807, -0.19505895601548537, 0.047496323882210464]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 367, "eef_pose": {"position_m": [0.45497968792915344, -0.1779063194990158, 0.3018935024738312], "quaternion_xyzw": [-0.9829410824266899, -0.06800387198897545, -0.16508336853600375, 0.04415635067756817]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00367_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00367_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00367_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.043825775384902954, "orientation_residual_rad": 0.10166810652023556, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 41, "subgoal": {"id": "sg-013", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 371, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05415583219949343, "position_residual_m": 0.0360531248152256, "orientation_residual_rad": 0.10767003005850294}, "provenance": {"observation_step": 367, "target_command_step": 370, "feedback_step": 371, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 371, recorded EEF XYZ is (0.447, -0.143, 0.343) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 367, EEF displacement is 5.42 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.06 cm of EEF translation (−X 0.95 cm, +Y 3.07 cm, +Z 3.91 cm), 11.6° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.009514421224594116, 0.03074926882982254, 0.039103299379348755], "translation_norm_m": 0.050646912711029876, "orientation_delta_rad": 0.20320951730067732, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 371, "current_images": ["images/8eb80eebbb415199/00371_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00371_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00371_wrist_image_left.jpg"], "current_position_m": [0.4470110833644867, -0.14321592450141907, 0.34270933270454407], "current_quaternion_xyzw": [-0.967995228490038, -0.13330837992085742, -0.2098434988328437, 0.03434850012716328], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 367, "position_m": [0.45497968792915344, -0.1779063194990158, 0.3018935024738312]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 375, "feedback_step": 376}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4374966621398926, -0.11246665567159653, 0.3818126320838928], "quaternion_xyzw": [-0.9421284583622827, -0.22004370438412324, -0.2523830840418494, 0.0166587812983327]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 376, "eef_pose": {"position_m": [0.4373367428779602, -0.1123051792383194, 0.3821827471256256], "quaternion_xyzw": [-0.9418517335401099, -0.22072784411148486, -0.2528315513205075, 0.016454103386430278]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00376_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00376_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.00043432009988464415, "orientation_residual_rad": 0.0017749814569248544, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 376, EEF displacement is 5.11 cm; remaining target position residual is 0.04 cm and orientation residual is 0.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 376, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.051060919328072545, "position_residual_m": 0.00043432009988464415, "orientation_residual_rad": 0.0017749814569248544}, "provenance": {"observation_step": 371, "target_command_step": 375, "feedback_step": 376, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8eb80eebbb415199", "decision_index": 43, "split": "test", "task": "Pick up the computer mouse and put it in the microwave", "instruction_available": true, "observation": {"source_step": 376, "eef_pose": {"position_m": [0.4373367428779602, -0.1123051792383194, 0.3821827471256256], "quaternion_xyzw": [-0.9418517335401099, -0.22072784411148486, -0.2528315513205075, 0.016454103386430278]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00376_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00376_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42525652050971985, -0.12302250415086746, 0.3631737530231476], "quaternion_xyzw": [-0.954897244419493, -0.1797064711474197, -0.23377518558967939, 0.035014274664939164]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 371, "eef_pose": {"position_m": [0.4470110833644867, -0.14321592450141907, 0.34270933270454407], "quaternion_xyzw": [-0.967995228490038, -0.13330837992085742, -0.2098434988328437, 0.03434850012716328]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00371_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00371_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00371_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0360531248152256, "orientation_residual_rad": 0.10767003005850294, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4374966621398926, -0.11246665567159653, 0.3818126320838928], "quaternion_xyzw": [-0.9421284583622827, -0.22004370438412324, -0.2523830840418494, 0.0166587812983327]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 376, "eef_pose": {"position_m": [0.4373367428779602, -0.1123051792383194, 0.3821827471256256], "quaternion_xyzw": [-0.9418517335401099, -0.22072784411148486, -0.2528315513205075, 0.016454103386430278]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00376_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00376_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.00043432009988464415, "orientation_residual_rad": 0.0017749814569248544, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 43, "subgoal": {"id": "sg-014", "phase": "hold_adjust", "title": "Hold / fine adjustment", "intent": "Make a small pose adjustment and assess the next observation before advancing the task.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Make a small pose adjustment and assess the next observation before advancing the task. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 376, recorded EEF XYZ is (0.437, -0.112, 0.382) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 371, EEF displacement is 5.11 cm."], "task_context": "The instruction requests: Pick up the computer mouse and put it in the microwave.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.13 cm of EEF translation (−X 0.06 cm, −Y 0.00 cm, +Z 0.12 cm), 0.6° orientation change, and gripper closure 0.00.", "intent": "Make a small pose adjustment and assess the next observation before advancing the task.", "translation_delta_m": [-0.0005712807178497314, -8.121132850646973e-07, 0.0012031197547912598], "translation_norm_m": 0.0013318631545635134, "orientation_delta_rad": 0.011190560449776144, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 376, "current_images": ["images/8eb80eebbb415199/00376_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00376_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00376_wrist_image_left.jpg"], "current_position_m": [0.4373367428779602, -0.1123051792383194, 0.3821827471256256], "current_quaternion_xyzw": [-0.9418517335401099, -0.22072784411148486, -0.2528315513205075, 0.016454103386430278], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 371, "position_m": [0.4470110833644867, -0.14321592450141907, 0.34270933270454407]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8eb80eebbb415199/00000_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 386, "feedback_step": 387}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4367654621601105, -0.11230599135160446, 0.38338586688041687], "quaternion_xyzw": [-0.941118360726243, -0.22161778346555253, -0.25438295622584955, 0.021704855161048996]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 387, "eef_pose": {"position_m": [0.4367639422416687, -0.11230861395597458, 0.3833821415901184], "quaternion_xyzw": [-0.9411203945009046, -0.22161232880923687, -0.25437999590328697, 0.021707060106148913]}, "gripper_closure": 0.0, "images": ["images/8eb80eebbb415199/00387_exterior_image_1_left.jpg", "images/8eb80eebbb415199/00387_exterior_image_2_left.jpg", "images/8eb80eebbb415199/00387_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 4.802706826012582e-06, "orientation_residual_rad": 1.3786197077416101e-05, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 387, EEF displacement is 0.13 cm; remaining target position residual is 0.00 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 387, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0013291574202017186, "position_residual_m": 4.802706826012582e-06, "orientation_residual_rad": 1.3786197077416101e-05}, "provenance": {"observation_step": 376, "target_command_step": 386, "feedback_step": 387, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 0, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.3277704417705536, 0.07055852562189102, 0.4109204411506653], "quaternion_xyzw": [-0.9925761833329211, -0.09056338545147331, -0.07152962521530255, 0.038396695331469104]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 0, recorded EEF XYZ is (0.328, 0.071, 0.411) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed)."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.71 cm of EEF translation (+X 4.61 cm, +Y 1.19 cm, −Z 6.06 cm), 9.1° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.046104371547698975, 0.011895306408405304, -0.060646653175354004], "translation_norm_m": 0.0771046557072256, "orientation_delta_rad": 0.15875881645986606, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 0, "current_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "current_position_m": [0.3277704417705536, 0.07055852562189102, 0.4109204411506653], "current_quaternion_xyzw": [-0.9925761833329211, -0.09056338545147331, -0.07152962521530255, 0.038396695331469104], "current_gripper_closure": 0.0, "previous_observation": null, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 14, "feedback_step": 15}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37387481331825256, 0.08245383203029633, 0.3502737879753113], "quaternion_xyzw": [-0.9935693190777861, -0.1068858906621816, 0.0061104817000875765, 0.036852090551956575]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497], "quaternion_xyzw": [-0.994648786341809, -0.09429057379746726, -0.0238501141125065, 0.03484611281809201]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00015_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00015_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.04489840939640999, "orientation_residual_rad": 0.06516325378158326, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 15, EEF displacement is 3.36 cm; remaining target position residual is 4.49 cm and orientation residual is 3.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 15, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.033580176346976645, "position_residual_m": 0.04489840939640999, "orientation_residual_rad": 0.06516325378158326}, "provenance": {"observation_step": 0, "target_command_step": 14, "feedback_step": 15, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 1, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497], "quaternion_xyzw": [-0.994648786341809, -0.09429057379746726, -0.0238501141125065, 0.03484611281809201]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00015_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00015_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37387481331825256, 0.08245383203029633, 0.3502737879753113], "quaternion_xyzw": [-0.9935693190777861, -0.1068858906621816, 0.0061104817000875765, 0.036852090551956575]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497], "quaternion_xyzw": [-0.994648786341809, -0.09429057379746726, -0.0238501141125065, 0.03484611281809201]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00015_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00015_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.04489840939640999, "orientation_residual_rad": 0.06516325378158326, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 1, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 15, recorded EEF XYZ is (0.342, 0.074, 0.381) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 0, EEF displacement is 3.36 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.12 cm of EEF translation (+X 5.26 cm, +Y 1.71 cm, −Z 8.47 cm), 7.6° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.05261111259460449, 0.01710037887096405, -0.08472910523414612], "translation_norm_m": 0.10118978900932481, "orientation_delta_rad": 0.1321401370244538, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 15, "current_images": ["images/d3e4b2031c2288c8/00015_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00015_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00015_wrist_image_left.jpg"], "current_position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497], "current_quaternion_xyzw": [-0.994648786341809, -0.09429057379746726, -0.0238501141125065, 0.03484611281809201], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 0, "position_m": [0.3277704417705536, 0.07055852562189102, 0.4109204411506653]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 18, "feedback_step": 19}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3946208357810974, 0.09081502258777618, 0.29594385623931885], "quaternion_xyzw": [-0.9911785863279121, -0.12066697710076554, 0.03629201944480247, 0.04107773079155062]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 19, "eef_pose": {"position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281], "quaternion_xyzw": [-0.9938677956926346, -0.10394974893096545, 0.021787038519405874, 0.03076652945664944]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00019_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00019_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00019_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04839175194501877, "orientation_residual_rad": 0.04913016401383059, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 19, EEF displacement is 5.50 cm; remaining target position residual is 4.84 cm and orientation residual is 2.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 19, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.054957536312411764, "position_residual_m": 0.04839175194501877, "orientation_residual_rad": 0.04913016401383059}, "provenance": {"observation_step": 15, "target_command_step": 18, "feedback_step": 19, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 2, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 19, "eef_pose": {"position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281], "quaternion_xyzw": [-0.9938677956926346, -0.10394974893096545, 0.021787038519405874, 0.03076652945664944]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00019_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00019_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00019_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37387481331825256, 0.08245383203029633, 0.3502737879753113], "quaternion_xyzw": [-0.9935693190777861, -0.1068858906621816, 0.0061104817000875765, 0.036852090551956575]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497], "quaternion_xyzw": [-0.994648786341809, -0.09429057379746726, -0.0238501141125065, 0.03484611281809201]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00015_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00015_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.04489840939640999, "orientation_residual_rad": 0.06516325378158326, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3946208357810974, 0.09081502258777618, 0.29594385623931885], "quaternion_xyzw": [-0.9911785863279121, -0.12066697710076554, 0.03629201944480247, 0.04107773079155062]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 19, "eef_pose": {"position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281], "quaternion_xyzw": [-0.9938677956926346, -0.10394974893096545, 0.021787038519405874, 0.03076652945664944]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00019_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00019_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00019_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04839175194501877, "orientation_residual_rad": 0.04913016401383059, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 2, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 19, recorded EEF XYZ is (0.362, 0.078, 0.330) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 15, EEF displacement is 5.50 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.48 cm of EEF translation (+X 4.41 cm, +Y 2.34 cm, −Z 8.06 cm), 6.7° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0440765917301178, 0.02336418628692627, -0.08059415221214294], "translation_norm_m": 0.09478422078694189, "orientation_delta_rad": 0.11655465716152205, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 19, "current_images": ["images/d3e4b2031c2288c8/00019_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00019_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00019_wrist_image_left.jpg"], "current_position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281], "current_quaternion_xyzw": [-0.9938677956926346, -0.10394974893096545, 0.021787038519405874, 0.03076652945664944], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 15, "position_m": [0.3420097231864929, 0.07371464371681213, 0.38067296147346497]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 22, "feedback_step": 23}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40647396445274353, 0.1017920970916748, 0.24926090240478516], "quaternion_xyzw": [-0.9871836559416504, -0.13470649648154798, 0.06159221948293863, 0.059405283826519543]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 23, "eef_pose": {"position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046], "quaternion_xyzw": [-0.9908466448348178, -0.11946824775638258, 0.050705425534204776, 0.03713790542019655]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00023_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00023_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00023_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0414106659591198, "orientation_residual_rad": 0.05865293762354704, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 23, EEF displacement is 5.51 cm; remaining target position residual is 4.14 cm and orientation residual is 3.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 23, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.055137680182740144, "position_residual_m": 0.0414106659591198, "orientation_residual_rad": 0.05865293762354704}, "provenance": {"observation_step": 19, "target_command_step": 22, "feedback_step": 23, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 3, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 23, "eef_pose": {"position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046], "quaternion_xyzw": [-0.9908466448348178, -0.11946824775638258, 0.050705425534204776, 0.03713790542019655]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00023_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00023_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00023_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3946208357810974, 0.09081502258777618, 0.29594385623931885], "quaternion_xyzw": [-0.9911785863279121, -0.12066697710076554, 0.03629201944480247, 0.04107773079155062]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 19, "eef_pose": {"position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281], "quaternion_xyzw": [-0.9938677956926346, -0.10394974893096545, 0.021787038519405874, 0.03076652945664944]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00019_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00019_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00019_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04839175194501877, "orientation_residual_rad": 0.04913016401383059, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40647396445274353, 0.1017920970916748, 0.24926090240478516], "quaternion_xyzw": [-0.9871836559416504, -0.13470649648154798, 0.06159221948293863, 0.059405283826519543]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 23, "eef_pose": {"position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046], "quaternion_xyzw": [-0.9908466448348178, -0.11946824775638258, 0.050705425534204776, 0.03713790542019655]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00023_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00023_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00023_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0414106659591198, "orientation_residual_rad": 0.05865293762354704, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 3, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 23, recorded EEF XYZ is (0.381, 0.088, 0.279) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 19, EEF displacement is 5.51 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.99 cm of EEF translation (+X 1.97 cm, +Y 2.16 cm, −Z 8.50 cm), 9.2° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0197104811668396, 0.021608412265777588, -0.08499820530414581], "translation_norm_m": 0.08988949579011926, "orientation_delta_rad": 0.1605000088594926, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 23, "current_images": ["images/d3e4b2031c2288c8/00023_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00023_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00023_wrist_image_left.jpg"], "current_position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046], "current_quaternion_xyzw": [-0.9908466448348178, -0.11946824775638258, 0.050705425534204776, 0.03713790542019655], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 19, "position_m": [0.36239737272262573, 0.07842791080474854, 0.3298550546169281]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 27, "feedback_step": 28}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40069735050201416, 0.10958675295114517, 0.19383348524570465], "quaternion_xyzw": [-0.9823139947235253, -0.12560591995671458, 0.08809572710968111, 0.10733830400725528]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 28, "eef_pose": {"position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629], "quaternion_xyzw": [-0.9852280439255549, -0.12449356033739227, 0.08457235364415955, 0.08169805319732083]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00028_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00028_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00028_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.032895736396312714, "orientation_residual_rad": 0.05213843635777367, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 28, EEF displacement is 5.71 cm; remaining target position residual is 3.29 cm and orientation residual is 3.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 28, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05708491064435338, "position_residual_m": 0.032895736396312714, "orientation_residual_rad": 0.05213843635777367}, "provenance": {"observation_step": 23, "target_command_step": 27, "feedback_step": 28, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 4, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 28, "eef_pose": {"position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629], "quaternion_xyzw": [-0.9852280439255549, -0.12449356033739227, 0.08457235364415955, 0.08169805319732083]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00028_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00028_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00028_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40647396445274353, 0.1017920970916748, 0.24926090240478516], "quaternion_xyzw": [-0.9871836559416504, -0.13470649648154798, 0.06159221948293863, 0.059405283826519543]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 23, "eef_pose": {"position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046], "quaternion_xyzw": [-0.9908466448348178, -0.11946824775638258, 0.050705425534204776, 0.03713790542019655]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00023_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00023_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00023_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0414106659591198, "orientation_residual_rad": 0.05865293762354704, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40069735050201416, 0.10958675295114517, 0.19383348524570465], "quaternion_xyzw": [-0.9823139947235253, -0.12560591995671458, 0.08809572710968111, 0.10733830400725528]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 28, "eef_pose": {"position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629], "quaternion_xyzw": [-0.9852280439255549, -0.12449356033739227, 0.08457235364415955, 0.08169805319732083]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00028_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00028_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00028_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.032895736396312714, "orientation_residual_rad": 0.05213843635777367, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 4, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 28, recorded EEF XYZ is (0.392, 0.102, 0.224) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 23, EEF displacement is 5.71 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.77 cm of EEF translation (+X 0.16 cm, +Y 0.86 cm, −Z 8.73 cm), 4.4° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0016493797302246094, 0.008646443486213684, -0.0872630625963211], "translation_norm_m": 0.08770589223161816, "orientation_delta_rad": 0.07732640063896927, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 28, "current_images": ["images/d3e4b2031c2288c8/00028_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00028_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00028_wrist_image_left.jpg"], "current_position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629], "current_quaternion_xyzw": [-0.9852280439255549, -0.12449356033739227, 0.08457235364415955, 0.08169805319732083], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 23, "position_m": [0.38098686933517456, 0.08797834068536758, 0.27883169054985046]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 32, "feedback_step": 33}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.39324378967285156, 0.11044260114431381, 0.1372065544128418], "quaternion_xyzw": [-0.9854054523517701, -0.09633313494692719, 0.09009723038978949, 0.10760348815344942]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 33, "eef_pose": {"position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914], "quaternion_xyzw": [-0.9842254603361472, -0.10565670417422483, 0.0989229982000972, 0.10174057458184113]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00033_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00033_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00033_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03564191609621048, "orientation_residual_rad": 0.02832614413411156, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 33, EEF displacement is 5.33 cm; remaining target position residual is 3.56 cm and orientation residual is 1.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 33, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.053307150898073224, "position_residual_m": 0.03564191609621048, "orientation_residual_rad": 0.02832614413411156}, "provenance": {"observation_step": 28, "target_command_step": 32, "feedback_step": 33, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 5, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 33, "eef_pose": {"position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914], "quaternion_xyzw": [-0.9842254603361472, -0.10565670417422483, 0.0989229982000972, 0.10174057458184113]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00033_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00033_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00033_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.40069735050201416, 0.10958675295114517, 0.19383348524570465], "quaternion_xyzw": [-0.9823139947235253, -0.12560591995671458, 0.08809572710968111, 0.10733830400725528]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 28, "eef_pose": {"position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629], "quaternion_xyzw": [-0.9852280439255549, -0.12449356033739227, 0.08457235364415955, 0.08169805319732083]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00028_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00028_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00028_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.032895736396312714, "orientation_residual_rad": 0.05213843635777367, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.39324378967285156, 0.11044260114431381, 0.1372065544128418], "quaternion_xyzw": [-0.9854054523517701, -0.09633313494692719, 0.09009723038978949, 0.10760348815344942]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 33, "eef_pose": {"position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914], "quaternion_xyzw": [-0.9842254603361472, -0.10565670417422483, 0.0989229982000972, 0.10174057458184113]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00033_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00033_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00033_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03564191609621048, "orientation_residual_rad": 0.02832614413411156, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 5, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 33, recorded EEF XYZ is (0.386, 0.110, 0.172) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 28, EEF displacement is 5.33 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.85 cm of EEF translation (+X 0.16 cm, −Y 1.54 cm, −Z 6.67 cm), 8.1° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0015557706356048584, -0.01540018618106842, -0.06669096648693085], "translation_norm_m": 0.0684636485124998, "orientation_delta_rad": 0.14204408247483605, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 33, "current_images": ["images/d3e4b2031c2288c8/00033_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00033_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00033_wrist_image_left.jpg"], "current_position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914], "current_quaternion_xyzw": [-0.9842254603361472, -0.10565670417422483, 0.0989229982000972, 0.10174057458184113], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 28, "position_m": [0.39159440994262695, 0.10179615765810013, 0.2244696170091629]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 38, "feedback_step": 39}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38743433356285095, 0.09436701983213425, 0.10538166761398315], "quaternion_xyzw": [-0.9942757262542319, -0.060822350927170976, 0.05959601475754989, 0.06453477228851098]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266], "quaternion_xyzw": [-0.9904885787564237, -0.07814676172764848, 0.07739575808900769, 0.08267620948247192]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00039_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00039_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.01419810764491558, "orientation_residual_rad": 0.061983777845172394, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 39, EEF displacement is 5.50 cm; remaining target position residual is 1.42 cm and orientation residual is 3.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 39, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.055049794168333506, "position_residual_m": 0.01419810764491558, "orientation_residual_rad": 0.061983777845172394}, "provenance": {"observation_step": 33, "target_command_step": 38, "feedback_step": 39, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 6, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 39, "eef_pose": {"position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266], "quaternion_xyzw": [-0.9904885787564237, -0.07814676172764848, 0.07739575808900769, 0.08267620948247192]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00039_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00039_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.39324378967285156, 0.11044260114431381, 0.1372065544128418], "quaternion_xyzw": [-0.9854054523517701, -0.09633313494692719, 0.09009723038978949, 0.10760348815344942]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 33, "eef_pose": {"position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914], "quaternion_xyzw": [-0.9842254603361472, -0.10565670417422483, 0.0989229982000972, 0.10174057458184113]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00033_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00033_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00033_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03564191609621048, "orientation_residual_rad": 0.02832614413411156, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38743433356285095, 0.09436701983213425, 0.10538166761398315], "quaternion_xyzw": [-0.9942757262542319, -0.060822350927170976, 0.05959601475754989, 0.06453477228851098]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266], "quaternion_xyzw": [-0.9904885787564237, -0.07814676172764848, 0.07739575808900769, 0.08267620948247192]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00039_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00039_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.01419810764491558, "orientation_residual_rad": 0.061983777845172394, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 6, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 39, recorded EEF XYZ is (0.383, 0.098, 0.118) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 33, EEF displacement is 5.50 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.71 cm of EEF translation (+X 4.96 cm, −Y 0.01 cm, −Z 5.91 cm), 10.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.04958680272102356, -7.063895463943481e-05, -0.059091877192258835], "translation_norm_m": 0.07714081892267298, "orientation_delta_rad": 0.17958697691116876, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 39, "current_images": ["images/d3e4b2031c2288c8/00039_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00039_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00039_wrist_image_left.jpg"], "current_position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266], "current_quaternion_xyzw": [-0.9904885787564237, -0.07814676172764848, 0.07739575808900769, 0.08267620948247192], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 33, "position_m": [0.3858785629272461, 0.10976720601320267, 0.172072634100914]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 52, "feedback_step": 53}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4325808882713318, 0.0978672057390213, 0.05929439142346382], "quaternion_xyzw": [-0.9940361219023821, -0.011879454095564262, 0.10454211799505476, 0.028670760170816136]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012], "quaternion_xyzw": [-0.9952613434071822, -0.031437881649852194, 0.08807425113721692, 0.026635393808227402]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00053_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00053_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.02423652820289135, "orientation_residual_rad": 0.05135768081819115, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 53, EEF displacement is 5.47 cm; remaining target position residual is 2.42 cm and orientation residual is 2.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 53, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0547171919072814, "position_residual_m": 0.02423652820289135, "orientation_residual_rad": 0.05135768081819115}, "provenance": {"observation_step": 39, "target_command_step": 52, "feedback_step": 53, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 7, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 53, "eef_pose": {"position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012], "quaternion_xyzw": [-0.9952613434071822, -0.031437881649852194, 0.08807425113721692, 0.026635393808227402]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00053_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00053_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38743433356285095, 0.09436701983213425, 0.10538166761398315], "quaternion_xyzw": [-0.9942757262542319, -0.060822350927170976, 0.05959601475754989, 0.06453477228851098]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266], "quaternion_xyzw": [-0.9904885787564237, -0.07814676172764848, 0.07739575808900769, 0.08267620948247192]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00039_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00039_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.01419810764491558, "orientation_residual_rad": 0.061983777845172394, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4325808882713318, 0.0978672057390213, 0.05929439142346382], "quaternion_xyzw": [-0.9940361219023821, -0.011879454095564262, 0.10454211799505476, 0.028670760170816136]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012], "quaternion_xyzw": [-0.9952613434071822, -0.031437881649852194, 0.08807425113721692, 0.026635393808227402]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00053_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00053_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.02423652820289135, "orientation_residual_rad": 0.05135768081819115, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 7, "subgoal": {"id": "sg-002", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.45 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 53, recorded EEF XYZ is (0.418, 0.090, 0.077) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 39, EEF displacement is 5.47 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 1.52 cm of EEF translation (+X 1.01 cm, −Y 0.08 cm, −Z 1.14 cm), 7.0° orientation change, and gripper closure 0.45.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.010051488876342773, -0.000750519335269928, -0.011389270424842834], "translation_norm_m": 0.015208918065202935, "orientation_delta_rad": 0.12284673495626354, "gripper_from": 0.0, "gripper_target": 0.4482378661632538, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 53, "current_images": ["images/d3e4b2031c2288c8/00053_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00053_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00053_wrist_image_left.jpg"], "current_position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012], "current_quaternion_xyzw": [-0.9952613434071822, -0.031437881649852194, 0.08807425113721692, 0.026635393808227402], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 39, "position_m": [0.3829940855503082, 0.09793784469366074, 0.11838626861572266]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 65, "feedback_step": 66}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4277535080909729, 0.0894123911857605, 0.06541718542575836], "quaternion_xyzw": [-0.9913377205300834, 0.016350976198157077, 0.12551106942712462, 0.035059105562534686]}, "gripper_closure": 0.4482378661632538, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563], "quaternion_xyzw": [-0.9921209478250592, 0.017031837508668754, 0.11779728280416699, 0.03911191074007224]}, "gripper_closure": 0.19823786616325378, "images": ["images/d3e4b2031c2288c8/00066_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00066_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.006677193567156792, "orientation_residual_rad": 0.017550526503865568, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 66, EEF displacement is 1.59 cm; remaining target position residual is 0.67 cm and orientation residual is 1.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 66, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.015883021905643353, "position_residual_m": 0.006677193567156792, "orientation_residual_rad": 0.017550526503865568}, "provenance": {"observation_step": 53, "target_command_step": 65, "feedback_step": 66, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 8, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 66, "eef_pose": {"position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563], "quaternion_xyzw": [-0.9921209478250592, 0.017031837508668754, 0.11779728280416699, 0.03911191074007224]}, "gripper_closure": 0.19823786616325378, "images": ["images/d3e4b2031c2288c8/00066_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00066_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4325808882713318, 0.0978672057390213, 0.05929439142346382], "quaternion_xyzw": [-0.9940361219023821, -0.011879454095564262, 0.10454211799505476, 0.028670760170816136]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012], "quaternion_xyzw": [-0.9952613434071822, -0.031437881649852194, 0.08807425113721692, 0.026635393808227402]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00053_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00053_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.02423652820289135, "orientation_residual_rad": 0.05135768081819115, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4277535080909729, 0.0894123911857605, 0.06541718542575836], "quaternion_xyzw": [-0.9913377205300834, 0.016350976198157077, 0.12551106942712462, 0.035059105562534686]}, "gripper_closure": 0.4482378661632538, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563], "quaternion_xyzw": [-0.9921209478250592, 0.017031837508668754, 0.11779728280416699, 0.03911191074007224]}, "gripper_closure": 0.19823786616325378, "images": ["images/d3e4b2031c2288c8/00066_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00066_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.006677193567156792, "orientation_residual_rad": 0.017550526503865568, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 8, "subgoal": {"id": "sg-002", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.20 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 66, recorded EEF XYZ is (0.424, 0.094, 0.063) m in robot-base coordinates.", "Recorded gripper closure is 0.20 (0 open, 1 closed).", "Since the prior decision observation at frame 53, EEF displacement is 1.59 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.58 cm of EEF translation (+X 2.93 cm, −Y 1.47 cm, +Z 10.06 cm), 10.5° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.029348820447921753, -0.014697633683681488, 0.10062499344348907], "translation_norm_m": 0.10584310560015829, "orientation_delta_rad": 0.18238886748968985, "gripper_from": 0.19823786616325378, "gripper_target": 0.9911894202232361, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 66, "current_images": ["images/d3e4b2031c2288c8/00066_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00066_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00066_wrist_image_left.jpg"], "current_position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563], "current_quaternion_xyzw": [-0.9921209478250592, 0.017031837508668754, 0.11779728280416699, 0.03911191074007224], "current_gripper_closure": 0.19823786616325378, "previous_observation": {"source_step": 53, "position_m": [0.4177020192146301, 0.09016291052103043, 0.0768064558506012]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 76, "feedback_step": 77}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.453073114156723, 0.07923334091901779, 0.1632256656885147], "quaternion_xyzw": [0.9978929860714584, 0.022492034171525305, -0.05835008688300426, 0.01729057861845359]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 77, "eef_pose": {"position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595], "quaternion_xyzw": [-0.9954595401885972, -0.018751807200844985, 0.09221893202985644, 0.01429482946668503]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00077_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00077_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00077_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05636925622820854, "orientation_residual_rad": 0.09305994239905375, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 77, EEF displacement is 5.27 cm; remaining target position residual is 5.64 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 77, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05272871276755253, "position_residual_m": 0.05636925622820854, "orientation_residual_rad": 0.09305994239905375}, "provenance": {"observation_step": 66, "target_command_step": 76, "feedback_step": 77, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 9, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 77, "eef_pose": {"position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595], "quaternion_xyzw": [-0.9954595401885972, -0.018751807200844985, 0.09221893202985644, 0.01429482946668503]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00077_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00077_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00077_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4277535080909729, 0.0894123911857605, 0.06541718542575836], "quaternion_xyzw": [-0.9913377205300834, 0.016350976198157077, 0.12551106942712462, 0.035059105562534686]}, "gripper_closure": 0.4482378661632538, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563], "quaternion_xyzw": [-0.9921209478250592, 0.017031837508668754, 0.11779728280416699, 0.03911191074007224]}, "gripper_closure": 0.19823786616325378, "images": ["images/d3e4b2031c2288c8/00066_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00066_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.006677193567156792, "orientation_residual_rad": 0.017550526503865568, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.453073114156723, 0.07923334091901779, 0.1632256656885147], "quaternion_xyzw": [0.9978929860714584, 0.022492034171525305, -0.05835008688300426, 0.01729057861845359]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 77, "eef_pose": {"position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595], "quaternion_xyzw": [-0.9954595401885972, -0.018751807200844985, 0.09221893202985644, 0.01429482946668503]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00077_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00077_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00077_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05636925622820854, "orientation_residual_rad": 0.09305994239905375, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 9, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.98 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 77, recorded EEF XYZ is (0.449, 0.082, 0.107) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 66, EEF displacement is 5.27 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.68 cm of EEF translation (+X 1.87 cm, −Y 0.79 cm, +Z 11.50 cm), 11.8° orientation change, and gripper closure 0.98.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.018717646598815918, -0.007884308695793152, 0.11502894759178162], "translation_norm_m": 0.11680826769489207, "orientation_delta_rad": 0.20630245727212151, "gripper_from": 0.9647576808929443, "gripper_target": 0.981848955154419, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 77, "current_images": ["images/d3e4b2031c2288c8/00077_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00077_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00077_wrist_image_left.jpg"], "current_position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595], "current_quaternion_xyzw": [-0.9954595401885972, -0.018751807200844985, 0.09221893202985644, 0.01429482946668503], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 66, "position_m": [0.42372429370880127, 0.09393097460269928, 0.06260067224502563]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 80, "feedback_step": 81}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46800774335861206, 0.07369686663150787, 0.22206147015094757], "quaternion_xyzw": [0.9977188744608866, 0.019322627411837913, -0.02173486706783738, 0.060920268941858514]}, "gripper_closure": 0.981848955154419, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 81, "eef_pose": {"position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981], "quaternion_xyzw": [0.9982815175520778, 0.027841646159294145, -0.043500529171736274, 0.0276867913424423]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00081_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00081_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00081_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05213047191500664, "orientation_residual_rad": 0.08127301040335033, "gripper_residual": 0.01709127426147461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 81, EEF displacement is 6.66 cm; remaining target position residual is 5.21 cm and orientation residual is 4.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 81, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06659926627829135, "position_residual_m": 0.05213047191500664, "orientation_residual_rad": 0.08127301040335033}, "provenance": {"observation_step": 77, "target_command_step": 80, "feedback_step": 81, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 10, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 81, "eef_pose": {"position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981], "quaternion_xyzw": [0.9982815175520778, 0.027841646159294145, -0.043500529171736274, 0.0276867913424423]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00081_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00081_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00081_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.453073114156723, 0.07923334091901779, 0.1632256656885147], "quaternion_xyzw": [0.9978929860714584, 0.022492034171525305, -0.05835008688300426, 0.01729057861845359]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 77, "eef_pose": {"position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595], "quaternion_xyzw": [-0.9954595401885972, -0.018751807200844985, 0.09221893202985644, 0.01429482946668503]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00077_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00077_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00077_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05636925622820854, "orientation_residual_rad": 0.09305994239905375, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46800774335861206, 0.07369686663150787, 0.22206147015094757], "quaternion_xyzw": [0.9977188744608866, 0.019322627411837913, -0.02173486706783738, 0.060920268941858514]}, "gripper_closure": 0.981848955154419, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 81, "eef_pose": {"position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981], "quaternion_xyzw": [0.9982815175520778, 0.027841646159294145, -0.043500529171736274, 0.0276867913424423]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00081_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00081_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00081_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05213047191500664, "orientation_residual_rad": 0.08127301040335033, "gripper_residual": 0.01709127426147461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 10, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.98 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 81, recorded EEF XYZ is (0.470, 0.074, 0.170) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 77, EEF displacement is 6.66 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.30 cm of EEF translation (−X 0.31 cm, −Y 0.52 cm, +Z 10.28 cm), 9.9° orientation change, and gripper closure 0.98.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.003135770559310913, -0.005220234394073486, 0.1028335690498352], "translation_norm_m": 0.10301372155036888, "orientation_delta_rad": 0.17274222515202434, "gripper_from": 0.9647576808929443, "gripper_target": 0.983130693435669, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 81, "current_images": ["images/d3e4b2031c2288c8/00081_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00081_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00081_wrist_image_left.jpg"], "current_position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981], "current_quaternion_xyzw": [0.9982815175520778, 0.027841646159294145, -0.043500529171736274, 0.0276867913424423], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 77, "position_m": [0.44929009675979614, 0.08158117532730103, 0.10703252255916595]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 83, "feedback_step": 84}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46646976470947266, 0.06839616596698761, 0.2727891206741333], "quaternion_xyzw": [0.9960507699436165, 0.004472204798368559, 0.014135964058241988, 0.08753877768802949]}, "gripper_closure": 0.983130693435669, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 84, "eef_pose": {"position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099], "quaternion_xyzw": [0.9977596301007029, 0.020680786960492487, -0.015085307189428966, 0.06180986247358787]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00084_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00084_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00084_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05459117144346237, "orientation_residual_rad": 0.08442186093624468, "gripper_residual": 0.01837301254272461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 84, EEF displacement is 5.02 cm; remaining target position residual is 5.46 cm and orientation residual is 4.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 84, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05016987272920247, "position_residual_m": 0.05459117144346237, "orientation_residual_rad": 0.08442186093624468}, "provenance": {"observation_step": 81, "target_command_step": 83, "feedback_step": 84, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 11, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 84, "eef_pose": {"position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099], "quaternion_xyzw": [0.9977596301007029, 0.020680786960492487, -0.015085307189428966, 0.06180986247358787]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00084_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00084_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00084_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46800774335861206, 0.07369686663150787, 0.22206147015094757], "quaternion_xyzw": [0.9977188744608866, 0.019322627411837913, -0.02173486706783738, 0.060920268941858514]}, "gripper_closure": 0.981848955154419, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 81, "eef_pose": {"position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981], "quaternion_xyzw": [0.9982815175520778, 0.027841646159294145, -0.043500529171736274, 0.0276867913424423]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00081_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00081_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00081_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05213047191500664, "orientation_residual_rad": 0.08127301040335033, "gripper_residual": 0.01709127426147461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46646976470947266, 0.06839616596698761, 0.2727891206741333], "quaternion_xyzw": [0.9960507699436165, 0.004472204798368559, 0.014135964058241988, 0.08753877768802949]}, "gripper_closure": 0.983130693435669, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 84, "eef_pose": {"position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099], "quaternion_xyzw": [0.9977596301007029, 0.020680786960492487, -0.015085307189428966, 0.06180986247358787]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00084_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00084_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00084_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05459117144346237, "orientation_residual_rad": 0.08442186093624468, "gripper_residual": 0.01837301254272461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 11, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.98 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 84, recorded EEF XYZ is (0.477, 0.069, 0.219) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 81, EEF displacement is 5.02 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.07 cm of EEF translation (−X 1.23 cm, −Y 0.17 cm, +Z 11.00 cm), 9.9° orientation change, and gripper closure 0.98.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.012336015701293945, -0.0016540512442588806, 0.11001826822757721], "translation_norm_m": 0.11072006373144991, "orientation_delta_rad": 0.17226471849761255, "gripper_from": 0.9647576808929443, "gripper_target": 0.9842294454574585, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 84, "current_images": ["images/d3e4b2031c2288c8/00084_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00084_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00084_wrist_image_left.jpg"], "current_position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099], "current_quaternion_xyzw": [0.9977596301007029, 0.020680786960492487, -0.015085307189428966, 0.06180986247358787], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 81, "position_m": [0.46960553526878357, 0.0736164003610611, 0.1699555516242981]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 86, "feedback_step": 87}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4649612605571747, 0.06699774414300919, 0.3293013572692871], "quaternion_xyzw": [0.9928889746107356, -0.008140290342853476, 0.052412309242547826, 0.10657471374317655]}, "gripper_closure": 0.9842294454574585, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 87, "eef_pose": {"position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286], "quaternion_xyzw": [0.9960026761839078, 0.005954391377936887, 0.018769591564234533, 0.08712586694158997]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00087_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00087_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00087_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06163738667964935, "orientation_residual_rad": 0.08291420696700752, "gripper_residual": 0.01947176456451416, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 87, EEF displacement is 5.02 cm; remaining target position residual is 6.16 cm and orientation residual is 4.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 87, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05016372251211294, "position_residual_m": 0.06163738667964935, "orientation_residual_rad": 0.08291420696700752}, "provenance": {"observation_step": 84, "target_command_step": 86, "feedback_step": 87, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 12, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 87, "eef_pose": {"position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286], "quaternion_xyzw": [0.9960026761839078, 0.005954391377936887, 0.018769591564234533, 0.08712586694158997]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00087_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00087_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00087_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46646976470947266, 0.06839616596698761, 0.2727891206741333], "quaternion_xyzw": [0.9960507699436165, 0.004472204798368559, 0.014135964058241988, 0.08753877768802949]}, "gripper_closure": 0.983130693435669, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 84, "eef_pose": {"position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099], "quaternion_xyzw": [0.9977596301007029, 0.020680786960492487, -0.015085307189428966, 0.06180986247358787]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00084_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00084_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00084_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05459117144346237, "orientation_residual_rad": 0.08442186093624468, "gripper_residual": 0.01837301254272461, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4649612605571747, 0.06699774414300919, 0.3293013572692871], "quaternion_xyzw": [0.9928889746107356, -0.008140290342853476, 0.052412309242547826, 0.10657471374317655]}, "gripper_closure": 0.9842294454574585, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 87, "eef_pose": {"position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286], "quaternion_xyzw": [0.9960026761839078, 0.005954391377936887, 0.018769591564234533, 0.08712586694158997]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00087_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00087_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00087_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06163738667964935, "orientation_residual_rad": 0.08291420696700752, "gripper_residual": 0.01947176456451416, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 12, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 87, recorded EEF XYZ is (0.479, 0.066, 0.269) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 84, EEF displacement is 5.02 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.27 cm of EEF translation (−X 1.30 cm, +Y 0.13 cm, +Z 12.20 cm), 8.7° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.013026833534240723, 0.0013047009706497192, 0.12200674414634705], "translation_norm_m": 0.1227071564895211, "orientation_delta_rad": 0.15144556825166589, "gripper_from": 0.9647576808929443, "gripper_target": 0.9851451516151428, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 87, "current_images": ["images/d3e4b2031c2288c8/00087_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00087_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00087_wrist_image_left.jpg"], "current_position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286], "current_quaternion_xyzw": [0.9960026761839078, 0.005954391377936887, 0.018769591564234533, 0.08712586694158997], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 84, "position_m": [0.47729727625846863, 0.06865179538726807, 0.2192830890417099]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 89, "feedback_step": 90}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4661311209201813, 0.06713131815195084, 0.39133936166763306], "quaternion_xyzw": [0.989145026059275, -0.025641475646029067, 0.07760531780355388, 0.1221148917925223]}, "gripper_closure": 0.9851451516151428, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 90, "eef_pose": {"position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975], "quaternion_xyzw": [0.993161655643588, -0.00760339930136588, 0.04982681770125588, 0.1053062311362291]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00090_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00090_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00090_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06561291962862015, "orientation_residual_rad": 0.07472199167347132, "gripper_residual": 0.020387470722198486, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 90, EEF displacement is 5.73 cm; remaining target position residual is 6.56 cm and orientation residual is 4.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 90, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.057256428692767966, "position_residual_m": 0.06561291962862015, "orientation_residual_rad": 0.07472199167347132}, "provenance": {"observation_step": 87, "target_command_step": 89, "feedback_step": 90, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 13, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 90, "eef_pose": {"position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975], "quaternion_xyzw": [0.993161655643588, -0.00760339930136588, 0.04982681770125588, 0.1053062311362291]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00090_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00090_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00090_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4649612605571747, 0.06699774414300919, 0.3293013572692871], "quaternion_xyzw": [0.9928889746107356, -0.008140290342853476, 0.052412309242547826, 0.10657471374317655]}, "gripper_closure": 0.9842294454574585, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 87, "eef_pose": {"position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286], "quaternion_xyzw": [0.9960026761839078, 0.005954391377936887, 0.018769591564234533, 0.08712586694158997]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00087_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00087_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00087_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06163738667964935, "orientation_residual_rad": 0.08291420696700752, "gripper_residual": 0.01947176456451416, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4661311209201813, 0.06713131815195084, 0.39133936166763306], "quaternion_xyzw": [0.989145026059275, -0.025641475646029067, 0.07760531780355388, 0.1221148917925223]}, "gripper_closure": 0.9851451516151428, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 90, "eef_pose": {"position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975], "quaternion_xyzw": [0.993161655643588, -0.00760339930136588, 0.04982681770125588, 0.1053062311362291]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00090_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00090_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00090_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06561291962862015, "orientation_residual_rad": 0.07472199167347132, "gripper_residual": 0.020387470722198486, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 13, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.98 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 90, recorded EEF XYZ is (0.476, 0.065, 0.326) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 87, EEF displacement is 5.73 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.78 cm of EEF translation (−X 1.55 cm, +Y 0.67 cm, +Z 12.67 cm), 7.7° orientation change, and gripper closure 0.98.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.015480130910873413, 0.006695657968521118, 0.12665578722953796], "translation_norm_m": 0.1277738421093425, "orientation_delta_rad": 0.13404510060276412, "gripper_from": 0.9647576808929443, "gripper_target": 0.9845961928367615, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 90, "current_images": ["images/d3e4b2031c2288c8/00090_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00090_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00090_wrist_image_left.jpg"], "current_position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975], "current_quaternion_xyzw": [0.993161655643588, -0.00760339930136588, 0.04982681770125588, 0.1053062311362291], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 87, "position_m": [0.479157954454422, 0.06582661718130112, 0.269332617521286]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 92, "feedback_step": 93}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4604990482330322, 0.07192465662956238, 0.4531534016132355], "quaternion_xyzw": [0.9855866895549088, -0.0368210976684552, 0.10561278978381139, 0.1269213251300439]}, "gripper_closure": 0.9845961928367615, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 93, "eef_pose": {"position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256], "quaternion_xyzw": [0.9898879111726899, -0.022362015208234796, 0.0758806138449512, 0.11774547138853654]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00093_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00093_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0637403130531311, "orientation_residual_rad": 0.06916309201497658, "gripper_residual": 0.01983851194381714, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 93, EEF displacement is 6.41 cm; remaining target position residual is 6.37 cm and orientation residual is 4.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 93, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0641243305297748, "position_residual_m": 0.0637403130531311, "orientation_residual_rad": 0.06916309201497658}, "provenance": {"observation_step": 90, "target_command_step": 92, "feedback_step": 93, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 14, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 93, "eef_pose": {"position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256], "quaternion_xyzw": [0.9898879111726899, -0.022362015208234796, 0.0758806138449512, 0.11774547138853654]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00093_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00093_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4661311209201813, 0.06713131815195084, 0.39133936166763306], "quaternion_xyzw": [0.989145026059275, -0.025641475646029067, 0.07760531780355388, 0.1221148917925223]}, "gripper_closure": 0.9851451516151428, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 90, "eef_pose": {"position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975], "quaternion_xyzw": [0.993161655643588, -0.00760339930136588, 0.04982681770125588, 0.1053062311362291]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00090_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00090_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00090_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06561291962862015, "orientation_residual_rad": 0.07472199167347132, "gripper_residual": 0.020387470722198486, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4604990482330322, 0.07192465662956238, 0.4531534016132355], "quaternion_xyzw": [0.9855866895549088, -0.0368210976684552, 0.10561278978381139, 0.1269213251300439]}, "gripper_closure": 0.9845961928367615, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 93, "eef_pose": {"position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256], "quaternion_xyzw": [0.9898879111726899, -0.022362015208234796, 0.0758806138449512, 0.11774547138853654]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00093_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00093_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0637403130531311, "orientation_residual_rad": 0.06916309201497658, "gripper_residual": 0.01983851194381714, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 14, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 93, recorded EEF XYZ is (0.469, 0.066, 0.390) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 90, EEF displacement is 6.41 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.93 cm of EEF translation (−X 1.66 cm, +Y 0.88 cm, +Z 11.78 cm), 9.6° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.01664063334465027, 0.00877874344587326, 0.11783081293106079], "translation_norm_m": 0.11932341551679701, "orientation_delta_rad": 0.1667529800813642, "gripper_from": 0.9647576808929443, "gripper_target": 0.9878924489021301, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 93, "current_images": ["images/d3e4b2031c2288c8/00093_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00093_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00093_wrist_image_left.jpg"], "current_position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256], "current_quaternion_xyzw": [0.9898879111726899, -0.022362015208234796, 0.0758806138449512, 0.11774547138853654], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 90, "position_m": [0.47597917914390564, 0.06522899866104126, 0.3264976143836975]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 95, "feedback_step": 96}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4524887502193451, 0.07514839619398117, 0.5080756545066833], "quaternion_xyzw": [0.9790008708980512, -0.05788397350162282, 0.150123642403914, 0.1251784022261914]}, "gripper_closure": 0.9878924489021301, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 96, "eef_pose": {"position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684], "quaternion_xyzw": [0.9851943702677238, -0.03310317027069974, 0.1123169631784515, 0.1252243294778702]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00096_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00096_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00096_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05550761893391609, "orientation_residual_rad": 0.09126129524924385, "gripper_residual": 0.02313476800918579, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 96, EEF displacement is 6.38 cm; remaining target position residual is 5.55 cm and orientation residual is 5.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 96, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06382685951865363, "position_residual_m": 0.05550761893391609, "orientation_residual_rad": 0.09126129524924385}, "provenance": {"observation_step": 93, "target_command_step": 95, "feedback_step": 96, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 15, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 96, "eef_pose": {"position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684], "quaternion_xyzw": [0.9851943702677238, -0.03310317027069974, 0.1123169631784515, 0.1252243294778702]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00096_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00096_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00096_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4604990482330322, 0.07192465662956238, 0.4531534016132355], "quaternion_xyzw": [0.9855866895549088, -0.0368210976684552, 0.10561278978381139, 0.1269213251300439]}, "gripper_closure": 0.9845961928367615, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 93, "eef_pose": {"position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256], "quaternion_xyzw": [0.9898879111726899, -0.022362015208234796, 0.0758806138449512, 0.11774547138853654]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00093_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00093_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0637403130531311, "orientation_residual_rad": 0.06916309201497658, "gripper_residual": 0.01983851194381714, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4524887502193451, 0.07514839619398117, 0.5080756545066833], "quaternion_xyzw": [0.9790008708980512, -0.05788397350162282, 0.150123642403914, 0.1251784022261914]}, "gripper_closure": 0.9878924489021301, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 96, "eef_pose": {"position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684], "quaternion_xyzw": [0.9851943702677238, -0.03310317027069974, 0.1123169631784515, 0.1252243294778702]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00096_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00096_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00096_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05550761893391609, "orientation_residual_rad": 0.09126129524924385, "gripper_residual": 0.02313476800918579, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 15, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 96, recorded EEF XYZ is (0.461, 0.072, 0.453) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 93, EEF displacement is 6.38 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.03 cm of EEF translation (−X 1.09 cm, +Y 0.57 cm, +Z 9.96 cm), 10.9° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.010871082544326782, 0.005691729485988617, 0.09955272078514099], "translation_norm_m": 0.10030613359088009, "orientation_delta_rad": 0.18941187611201976, "gripper_from": 0.9647576808929443, "gripper_target": 0.988991916179657, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 96, "current_images": ["images/d3e4b2031c2288c8/00096_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00096_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00096_wrist_image_left.jpg"], "current_position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684], "current_quaternion_xyzw": [0.9851943702677238, -0.03310317027069974, 0.1123169631784515, 0.1252243294778702], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 93, "position_m": [0.46912938356399536, 0.06636965274810791, 0.39024484157562256]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 98, "feedback_step": 99}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44974246621131897, 0.07747013121843338, 0.5528221130371094], "quaternion_xyzw": [0.9704930934715976, -0.08498571141574271, 0.190046819755532, 0.12166671968906376]}, "gripper_closure": 0.988991916179657, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 99, "eef_pose": {"position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993], "quaternion_xyzw": [0.9781891364101465, -0.05289144754287946, 0.15776213099932895, 0.12433671303577755]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00099_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00099_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00099_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.045033954083919525, "orientation_residual_rad": 0.09250042425522682, "gripper_residual": 0.024234235286712646, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 99, EEF displacement is 5.54 cm; remaining target position residual is 4.50 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 99, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0554291736542439, "position_residual_m": 0.045033954083919525, "orientation_residual_rad": 0.09250042425522682}, "provenance": {"observation_step": 96, "target_command_step": 98, "feedback_step": 99, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 16, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 99, "eef_pose": {"position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993], "quaternion_xyzw": [0.9781891364101465, -0.05289144754287946, 0.15776213099932895, 0.12433671303577755]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00099_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00099_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00099_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4524887502193451, 0.07514839619398117, 0.5080756545066833], "quaternion_xyzw": [0.9790008708980512, -0.05788397350162282, 0.150123642403914, 0.1251784022261914]}, "gripper_closure": 0.9878924489021301, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 96, "eef_pose": {"position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684], "quaternion_xyzw": [0.9851943702677238, -0.03310317027069974, 0.1123169631784515, 0.1252243294778702]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00096_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00096_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00096_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05550761893391609, "orientation_residual_rad": 0.09126129524924385, "gripper_residual": 0.02313476800918579, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44974246621131897, 0.07747013121843338, 0.5528221130371094], "quaternion_xyzw": [0.9704930934715976, -0.08498571141574271, 0.190046819755532, 0.12166671968906376]}, "gripper_closure": 0.988991916179657, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 99, "eef_pose": {"position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993], "quaternion_xyzw": [0.9781891364101465, -0.05289144754287946, 0.15776213099932895, 0.12433671303577755]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00099_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00099_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00099_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.045033954083919525, "orientation_residual_rad": 0.09250042425522682, "gripper_residual": 0.024234235286712646, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 16, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 99, recorded EEF XYZ is (0.452, 0.076, 0.508) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 96, EEF displacement is 5.54 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.83 cm of EEF translation (+X 1.01 cm, +Y 0.36 cm, +Z 8.76 cm), 10.4° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.010088145732879639, 0.0036106333136558533, 0.08760076761245728], "translation_norm_m": 0.08825362226869356, "orientation_delta_rad": 0.181609991346318, "gripper_from": 0.9647576808929443, "gripper_target": 0.9911894202232361, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 99, "current_images": ["images/d3e4b2031c2288c8/00099_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00099_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00099_wrist_image_left.jpg"], "current_position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993], "current_quaternion_xyzw": [0.9781891364101465, -0.05289144754287946, 0.15776213099932895, 0.12433671303577755], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 96, "position_m": [0.46061354875564575, 0.07177840173244476, 0.4532693922519684]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 102, "feedback_step": 103}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46213439106941223, 0.07957303524017334, 0.5954731702804565], "quaternion_xyzw": [0.9601774593848703, -0.1054199202941754, 0.22941540446178801, 0.11964304864896963]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 103, "eef_pose": {"position_m": [0.44893521070480347, 0.07625483721494675, 0.5612873435020447], "quaternion_xyzw": [0.967411546384655, -0.0831867382983768, 0.20672772916803225, 0.1202435548624396]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00103_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00103_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00103_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.036795374006032944, "orientation_residual_rad": 0.06517151427396815, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 103, EEF displacement is 5.35 cm; remaining target position residual is 3.68 cm and orientation residual is 3.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 103, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.053506260934420645, "position_residual_m": 0.036795374006032944, "orientation_residual_rad": 0.06517151427396815}, "provenance": {"observation_step": 99, "target_command_step": 102, "feedback_step": 103, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 17, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 103, "eef_pose": {"position_m": [0.44893521070480347, 0.07625483721494675, 0.5612873435020447], "quaternion_xyzw": [0.967411546384655, -0.0831867382983768, 0.20672772916803225, 0.1202435548624396]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00103_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00103_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00103_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44974246621131897, 0.07747013121843338, 0.5528221130371094], "quaternion_xyzw": [0.9704930934715976, -0.08498571141574271, 0.190046819755532, 0.12166671968906376]}, "gripper_closure": 0.988991916179657, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 99, "eef_pose": {"position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993], "quaternion_xyzw": [0.9781891364101465, -0.05289144754287946, 0.15776213099932895, 0.12433671303577755]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00099_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00099_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00099_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.045033954083919525, "orientation_residual_rad": 0.09250042425522682, "gripper_residual": 0.024234235286712646, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46213439106941223, 0.07957303524017334, 0.5954731702804565], "quaternion_xyzw": [0.9601774593848703, -0.1054199202941754, 0.22941540446178801, 0.11964304864896963]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 103, "eef_pose": {"position_m": [0.44893521070480347, 0.07625483721494675, 0.5612873435020447], "quaternion_xyzw": [0.967411546384655, -0.0831867382983768, 0.20672772916803225, 0.1202435548624396]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00103_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00103_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00103_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.036795374006032944, "orientation_residual_rad": 0.06517151427396815, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 17, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 103, recorded EEF XYZ is (0.449, 0.076, 0.561) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 99, EEF displacement is 5.35 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.08 cm of EEF translation (+X 5.72 cm, +Y 1.16 cm, +Z 8.22 cm), 9.1° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.05724000930786133, 0.011595398187637329, 0.08215022087097168], "translation_norm_m": 0.10079449743831925, "orientation_delta_rad": 0.15835850692391906, "gripper_from": 0.9647576808929443, "gripper_target": 0.988991916179657, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 103, "current_images": ["images/d3e4b2031c2288c8/00103_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00103_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00103_wrist_image_left.jpg"], "current_position_m": [0.44893521070480347, 0.07625483721494675, 0.5612873435020447], "current_quaternion_xyzw": [0.967411546384655, -0.0831867382983768, 0.20672772916803225, 0.1202435548624396], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 99, "position_m": [0.4520462453365326, 0.07596240192651749, 0.5078724026679993]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 108, "feedback_step": 109}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5061752200126648, 0.08785023540258408, 0.6434375643730164], "quaternion_xyzw": [0.9484588053719837, -0.1138508565683624, 0.2758665549934584, 0.1065904348759355]}, "gripper_closure": 0.988991916179657, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 109, "eef_pose": {"position_m": [0.4693414270877838, 0.07734283804893494, 0.613196074962616], "quaternion_xyzw": [0.9555551315675916, -0.10181443950654748, 0.2534709353046643, 0.11090850011874216]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00109_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00109_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00109_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04880247265100479, "orientation_residual_rad": 0.05349711426852258, "gripper_residual": 0.024234235286712646, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 109, EEF displacement is 5.58 cm; remaining target position residual is 4.88 cm and orientation residual is 3.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 109, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.055786322828534574, "position_residual_m": 0.04880247265100479, "orientation_residual_rad": 0.05349711426852258}, "provenance": {"observation_step": 103, "target_command_step": 108, "feedback_step": 109, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 109, recorded EEF XYZ is (0.469, 0.077, 0.613) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 103, EEF displacement is 5.58 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.15 cm of EEF translation (+X 9.13 cm, +Y 3.90 cm, +Z 7.01 cm), 7.9° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.091310054063797, 0.0389561727643013, 0.07008373737335205], "translation_norm_m": 0.12151888583176117, "orientation_delta_rad": 0.1384322674033209, "gripper_from": 0.9647576808929443, "gripper_target": 0.9911894202232361, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 109, "current_images": ["images/d3e4b2031c2288c8/00109_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00109_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00109_wrist_image_left.jpg"], "current_position_m": [0.4693414270877838, 0.07734283804893494, 0.613196074962616], "current_quaternion_xyzw": [0.9555551315675916, -0.10181443950654748, 0.2534709353046643, 0.11090850011874216], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 103, "position_m": [0.44893521070480347, 0.07625483721494675, 0.5612873435020447]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 113, "feedback_step": 114}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5606514811515808, 0.11629901081323624, 0.683279812335968], "quaternion_xyzw": [0.9381969658409579, -0.12331827059805248, 0.3117731889228387, 0.0858867631967236]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 114, "eef_pose": {"position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407], "quaternion_xyzw": [0.9462647175819465, -0.11649041034121334, 0.2878405688532141, 0.0903375640603235]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00114_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00114_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.06252280622720718, "orientation_residual_rad": 0.05307841612581567, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 114, EEF displacement is 5.91 cm; remaining target position residual is 6.25 cm and orientation residual is 3.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 114, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.059112761706891156, "position_residual_m": 0.06252280622720718, "orientation_residual_rad": 0.05307841612581567}, "provenance": {"observation_step": 109, "target_command_step": 113, "feedback_step": 114, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 19, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 114, "eef_pose": {"position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407], "quaternion_xyzw": [0.9462647175819465, -0.11649041034121334, 0.2878405688532141, 0.0903375640603235]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00114_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00114_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5061752200126648, 0.08785023540258408, 0.6434375643730164], "quaternion_xyzw": [0.9484588053719837, -0.1138508565683624, 0.2758665549934584, 0.1065904348759355]}, "gripper_closure": 0.988991916179657, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 109, "eef_pose": {"position_m": [0.4693414270877838, 0.07734283804893494, 0.613196074962616], "quaternion_xyzw": [0.9555551315675916, -0.10181443950654748, 0.2534709353046643, 0.11090850011874216]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00109_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00109_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00109_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04880247265100479, "orientation_residual_rad": 0.05349711426852258, "gripper_residual": 0.024234235286712646, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5606514811515808, 0.11629901081323624, 0.683279812335968], "quaternion_xyzw": [0.9381969658409579, -0.12331827059805248, 0.3117731889228387, 0.0858867631967236]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 114, "eef_pose": {"position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407], "quaternion_xyzw": [0.9462647175819465, -0.11649041034121334, 0.2878405688532141, 0.0903375640603235]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00114_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00114_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.06252280622720718, "orientation_residual_rad": 0.05307841612581567, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 19, "subgoal": {"id": "sg-003", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 114, recorded EEF XYZ is (0.513, 0.095, 0.649) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 109, EEF displacement is 5.91 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.67 cm of EEF translation (+X 9.46 cm, +Y 4.29 cm, +Z 5.32 cm), 5.5° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.09458768367767334, 0.04288139194250107, 0.05323588848114014], "translation_norm_m": 0.11670348538415798, "orientation_delta_rad": 0.09667706089411557, "gripper_from": 0.9647576808929443, "gripper_target": 0.9911894202232361, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 114, "current_images": ["images/d3e4b2031c2288c8/00114_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00114_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00114_wrist_image_left.jpg"], "current_position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407], "current_quaternion_xyzw": [0.9462647175819465, -0.11649041034121334, 0.2878405688532141, 0.0903375640603235], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 109, "position_m": [0.4693414270877838, 0.07734283804893494, 0.613196074962616]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 117, "feedback_step": 118}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6071306467056274, 0.13806872069835663, 0.7026192545890808], "quaternion_xyzw": [0.9333612097306436, -0.11763028989502869, 0.33112765941085565, 0.07317404076890459]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556], "quaternion_xyzw": [0.9396369160146589, -0.11052009085307266, 0.3148163271294401, 0.07588448954179676]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00118_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00118_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06307221949100494, "orientation_residual_rad": 0.03812382537580379, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 118, EEF displacement is 5.37 cm; remaining target position residual is 6.31 cm and orientation residual is 2.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 118, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05366826367221832, "position_residual_m": 0.06307221949100494, "orientation_residual_rad": 0.03812382537580379}, "provenance": {"observation_step": 114, "target_command_step": 117, "feedback_step": 118, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 20, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 118, "eef_pose": {"position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556], "quaternion_xyzw": [0.9396369160146589, -0.11052009085307266, 0.3148163271294401, 0.07588448954179676]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00118_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00118_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5606514811515808, 0.11629901081323624, 0.683279812335968], "quaternion_xyzw": [0.9381969658409579, -0.12331827059805248, 0.3117731889228387, 0.0858867631967236]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 114, "eef_pose": {"position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407], "quaternion_xyzw": [0.9462647175819465, -0.11649041034121334, 0.2878405688532141, 0.0903375640603235]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00114_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00114_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00114_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.06252280622720718, "orientation_residual_rad": 0.05307841612581567, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6071306467056274, 0.13806872069835663, 0.7026192545890808], "quaternion_xyzw": [0.9333612097306436, -0.11763028989502869, 0.33112765941085565, 0.07317404076890459]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556], "quaternion_xyzw": [0.9396369160146589, -0.11052009085307266, 0.3148163271294401, 0.07588448954179676]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00118_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00118_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06307221949100494, "orientation_residual_rad": 0.03812382537580379, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 20, "subgoal": {"id": "sg-004", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.99 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 118, recorded EEF XYZ is (0.556, 0.116, 0.674) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 114, EEF displacement is 5.37 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.17 cm of EEF translation (+X 11.30 cm, +Y 4.17 cm, +Z 1.77 cm), 2.2° orientation change, and gripper closure 0.99.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.1129654049873352, 0.04165300726890564, 0.017684221267700195], "translation_norm_m": 0.12169177219656695, "orientation_delta_rad": 0.038678413190177834, "gripper_from": 0.9647576808929443, "gripper_target": 0.9911894202232361, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 118, "current_images": ["images/d3e4b2031c2288c8/00118_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00118_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00118_wrist_image_left.jpg"], "current_position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556], "current_quaternion_xyzw": [0.9396369160146589, -0.11052009085307266, 0.3148163271294401, 0.07588448954179676], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 114, "position_m": [0.5125429630279541, 0.09518732875585556, 0.6493833661079407]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 122, "feedback_step": 123}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6685414910316467, 0.1579144448041916, 0.6912401914596558], "quaternion_xyzw": [0.9354536689279195, -0.10923760889078105, 0.32988361275420514, 0.06457848038900169]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 123, "eef_pose": {"position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362], "quaternion_xyzw": [0.9363118431023572, -0.10636230178714451, 0.32771716471938306, 0.06788706189765473]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00123_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00123_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00123_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.060268253087997437, "orientation_residual_rad": 0.009928567500272014, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 123, EEF displacement is 6.27 cm; remaining target position residual is 6.03 cm and orientation residual is 0.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 123, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06266694000960533, "position_residual_m": 0.060268253087997437, "orientation_residual_rad": 0.009928567500272014}, "provenance": {"observation_step": 118, "target_command_step": 122, "feedback_step": 123, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 21, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 123, "eef_pose": {"position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362], "quaternion_xyzw": [0.9363118431023572, -0.10636230178714451, 0.32771716471938306, 0.06788706189765473]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00123_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00123_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00123_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6071306467056274, 0.13806872069835663, 0.7026192545890808], "quaternion_xyzw": [0.9333612097306436, -0.11763028989502869, 0.33112765941085565, 0.07317404076890459]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556], "quaternion_xyzw": [0.9396369160146589, -0.11052009085307266, 0.3148163271294401, 0.07588448954179676]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00118_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00118_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06307221949100494, "orientation_residual_rad": 0.03812382537580379, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6685414910316467, 0.1579144448041916, 0.6912401914596558], "quaternion_xyzw": [0.9354536689279195, -0.10923760889078105, 0.32988361275420514, 0.06457848038900169]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 123, "eef_pose": {"position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362], "quaternion_xyzw": [0.9363118431023572, -0.10636230178714451, 0.32771716471938306, 0.06788706189765473]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00123_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00123_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00123_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.060268253087997437, "orientation_residual_rad": 0.009928567500272014, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 21, "subgoal": {"id": "sg-005", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.71 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 123, recorded EEF XYZ is (0.613, 0.141, 0.674) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 118, EEF displacement is 6.27 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.16 cm of EEF translation (+X 9.81 cm, +Y 2.23 cm, −Z 1.42 cm), 3.8° orientation change, and gripper closure 0.71.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.09813582897186279, 0.022326335310935974, -0.014155268669128418], "translation_norm_m": 0.10163403862636897, "orientation_delta_rad": 0.0661460088696219, "gripper_from": 0.9647576808929443, "gripper_target": 0.7147576808929443, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 123, "current_images": ["images/d3e4b2031c2288c8/00123_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00123_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00123_wrist_image_left.jpg"], "current_position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362], "current_quaternion_xyzw": [0.9363118431023572, -0.10636230178714451, 0.32771716471938306, 0.06788706189765473], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 118, "position_m": [0.5555760860443115, 0.11626143753528595, 0.6735559701919556]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 126, "feedback_step": 127}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7114765048027039, 0.16287103295326233, 0.6602497100830078], "quaternion_xyzw": [0.9473668933184601, -0.09604295182174374, 0.29959975696630786, 0.05925965301302878]}, "gripper_closure": 0.7147576808929443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 127, "eef_pose": {"position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408], "quaternion_xyzw": [0.9419612923356108, -0.10449067925749604, 0.31255929357728657, 0.06401023112128729]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00127_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00127_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00127_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05424723029136658, "orientation_residual_rad": 0.0341238488058012, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 127, EEF displacement is 5.38 cm; remaining target position residual is 5.42 cm and orientation residual is 2.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 127, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.053814872656456084, "position_residual_m": 0.05424723029136658, "orientation_residual_rad": 0.0341238488058012}, "provenance": {"observation_step": 123, "target_command_step": 126, "feedback_step": 127, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 22, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 127, "eef_pose": {"position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408], "quaternion_xyzw": [0.9419612923356108, -0.10449067925749604, 0.31255929357728657, 0.06401023112128729]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00127_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00127_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00127_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6685414910316467, 0.1579144448041916, 0.6912401914596558], "quaternion_xyzw": [0.9354536689279195, -0.10923760889078105, 0.32988361275420514, 0.06457848038900169]}, "gripper_closure": 0.9911894202232361, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 123, "eef_pose": {"position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362], "quaternion_xyzw": [0.9363118431023572, -0.10636230178714451, 0.32771716471938306, 0.06788706189765473]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00123_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00123_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00123_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.060268253087997437, "orientation_residual_rad": 0.009928567500272014, "gripper_residual": 0.026431739330291748, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7114765048027039, 0.16287103295326233, 0.6602497100830078], "quaternion_xyzw": [0.9473668933184601, -0.09604295182174374, 0.29959975696630786, 0.05925965301302878]}, "gripper_closure": 0.7147576808929443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 127, "eef_pose": {"position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408], "quaternion_xyzw": [0.9419612923356108, -0.10449067925749604, 0.31255929357728657, 0.06401023112128729]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00127_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00127_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00127_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05424723029136658, "orientation_residual_rad": 0.0341238488058012, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 22, "subgoal": {"id": "sg-005", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.57 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 127, recorded EEF XYZ is (0.659, 0.154, 0.649) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 123, EEF displacement is 5.38 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.19 cm of EEF translation (+X 6.03 cm, +Y 0.16 cm, −Z 1.39 cm), 6.6° orientation change, and gripper closure 0.57.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.06025254726409912, 0.0016392916440963745, -0.01387101411819458], "translation_norm_m": 0.061850317392670315, "orientation_delta_rad": 0.11435398114143247, "gripper_from": 0.9647576808929443, "gripper_target": 0.5693832635879517, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 127, "current_images": ["images/d3e4b2031c2288c8/00127_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00127_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00127_wrist_image_left.jpg"], "current_position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408], "current_quaternion_xyzw": [0.9419612923356108, -0.10449067925749604, 0.31255929357728657, 0.06401023112128729], "current_gripper_closure": 0.9647576808929443, "previous_observation": {"source_step": 123, "position_m": [0.6133406758308411, 0.14054469764232635, 0.6744049787521362]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 129, "feedback_step": 130}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7192375659942627, 0.156042218208313, 0.6356224417686462], "quaternion_xyzw": [0.9580827991349207, -0.07021209231798455, 0.26978931059931355, 0.06604044200694695]}, "gripper_closure": 0.5693832635879517, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 130, "eef_pose": {"position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324], "quaternion_xyzw": [0.9506646322887402, -0.0954065367392676, 0.28746516760423774, 0.06706807792833168]}, "gripper_closure": 0.8193832635879517, "images": ["images/d3e4b2031c2288c8/00130_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00130_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00130_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03287823125720024, "orientation_residual_rad": 0.06335187693566015, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 130, EEF displacement is 3.78 cm; remaining target position residual is 3.29 cm and orientation residual is 3.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 130, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03784623612433061, "position_residual_m": 0.03287823125720024, "orientation_residual_rad": 0.06335187693566015}, "provenance": {"observation_step": 127, "target_command_step": 129, "feedback_step": 130, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 23, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 130, "eef_pose": {"position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324], "quaternion_xyzw": [0.9506646322887402, -0.0954065367392676, 0.28746516760423774, 0.06706807792833168]}, "gripper_closure": 0.8193832635879517, "images": ["images/d3e4b2031c2288c8/00130_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00130_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00130_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7114765048027039, 0.16287103295326233, 0.6602497100830078], "quaternion_xyzw": [0.9473668933184601, -0.09604295182174374, 0.29959975696630786, 0.05925965301302878]}, "gripper_closure": 0.7147576808929443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 127, "eef_pose": {"position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408], "quaternion_xyzw": [0.9419612923356108, -0.10449067925749604, 0.31255929357728657, 0.06401023112128729]}, "gripper_closure": 0.9647576808929443, "images": ["images/d3e4b2031c2288c8/00127_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00127_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00127_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05424723029136658, "orientation_residual_rad": 0.0341238488058012, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7192375659942627, 0.156042218208313, 0.6356224417686462], "quaternion_xyzw": [0.9580827991349207, -0.07021209231798455, 0.26978931059931355, 0.06604044200694695]}, "gripper_closure": 0.5693832635879517, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 130, "eef_pose": {"position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324], "quaternion_xyzw": [0.9506646322887402, -0.0954065367392676, 0.28746516760423774, 0.06706807792833168]}, "gripper_closure": 0.8193832635879517, "images": ["images/d3e4b2031c2288c8/00130_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00130_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00130_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03287823125720024, "orientation_residual_rad": 0.06335187693566015, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 23, "subgoal": {"id": "sg-005", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.82 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.12 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 130, recorded EEF XYZ is (0.688, 0.156, 0.625) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 127, EEF displacement is 3.78 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.79 cm of EEF translation (−X 1.97 cm, −Y 1.87 cm, −Z 3.94 cm), 17.0° orientation change, and gripper closure 0.12.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.019652068614959717, -0.01874566078186035, -0.0394437313079834], "translation_norm_m": 0.047889576511930564, "orientation_delta_rad": 0.296122271642325, "gripper_from": 0.8193832635879517, "gripper_target": 0.12444934993982315, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 130, "current_images": ["images/d3e4b2031c2288c8/00130_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00130_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00130_wrist_image_left.jpg"], "current_position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324], "current_quaternion_xyzw": [0.9506646322887402, -0.0954065367392676, 0.28746516760423774, 0.06706807792833168], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 127, "position_m": [0.6589850187301636, 0.1544029265642166, 0.6494934558868408]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 135, "feedback_step": 136}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6683756709098816, 0.13728909194469452, 0.585838258266449], "quaternion_xyzw": [0.9771417421748871, 0.019288282292305083, 0.19818263987982368, 0.07446891375535743]}, "gripper_closure": 0.12444934993982315, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 136, "eef_pose": {"position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994], "quaternion_xyzw": [0.969255435600435, -0.025746448853060495, 0.23112348183185705, 0.08039251878369534]}, "gripper_closure": 0.37444934248924255, "images": ["images/d3e4b2031c2288c8/00136_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00136_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00136_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036649610847234726, "orientation_residual_rad": 0.11333787224012026, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 136, EEF displacement is 3.43 cm; remaining target position residual is 3.66 cm and orientation residual is 6.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 136, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03428192814325892, "position_residual_m": 0.036649610847234726, "orientation_residual_rad": 0.11333787224012026}, "provenance": {"observation_step": 130, "target_command_step": 135, "feedback_step": 136, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 24, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 136, "eef_pose": {"position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994], "quaternion_xyzw": [0.969255435600435, -0.025746448853060495, 0.23112348183185705, 0.08039251878369534]}, "gripper_closure": 0.37444934248924255, "images": ["images/d3e4b2031c2288c8/00136_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00136_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00136_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7192375659942627, 0.156042218208313, 0.6356224417686462], "quaternion_xyzw": [0.9580827991349207, -0.07021209231798455, 0.26978931059931355, 0.06604044200694695]}, "gripper_closure": 0.5693832635879517, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 130, "eef_pose": {"position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324], "quaternion_xyzw": [0.9506646322887402, -0.0954065367392676, 0.28746516760423774, 0.06706807792833168]}, "gripper_closure": 0.8193832635879517, "images": ["images/d3e4b2031c2288c8/00130_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00130_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00130_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03287823125720024, "orientation_residual_rad": 0.06335187693566015, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6683756709098816, 0.13728909194469452, 0.585838258266449], "quaternion_xyzw": [0.9771417421748871, 0.019288282292305083, 0.19818263987982368, 0.07446891375535743]}, "gripper_closure": 0.12444934993982315, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 136, "eef_pose": {"position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994], "quaternion_xyzw": [0.969255435600435, -0.025746448853060495, 0.23112348183185705, 0.08039251878369534]}, "gripper_closure": 0.37444934248924255, "images": ["images/d3e4b2031c2288c8/00136_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00136_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00136_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036649610847234726, "orientation_residual_rad": 0.11333787224012026, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 24, "subgoal": {"id": "sg-005", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.37 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 136, recorded EEF XYZ is (0.702, 0.150, 0.594) m in robot-base coordinates.", "Recorded gripper closure is 0.37 (0 open, 1 closed).", "Since the prior decision observation at frame 130, EEF displacement is 3.43 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.22 cm of EEF translation (−X 8.04 cm, −Y 3.66 cm, −Z 6.92 cm), 16.9° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.0804060697555542, -0.03660694509744644, -0.06920206546783447], "translation_norm_m": 0.11222357304914576, "orientation_delta_rad": 0.29529598952330294, "gripper_from": 0.37444934248924255, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 136, "current_images": ["images/d3e4b2031c2288c8/00136_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00136_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00136_wrist_image_left.jpg"], "current_position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994], "current_quaternion_xyzw": [0.969255435600435, -0.025746448853060495, 0.23112348183185705, 0.08039251878369534], "current_gripper_closure": 0.37444934248924255, "previous_observation": {"source_step": 130, "position_m": [0.6880277395248413, 0.15603475272655487, 0.6252819895744324]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 139, "feedback_step": 140}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6211376190185547, 0.11378591507673264, 0.5250841379165649], "quaternion_xyzw": [0.9854174021609221, 0.08364471888279135, 0.13579427640490258, 0.059296028679054966]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 140, "eef_pose": {"position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662], "quaternion_xyzw": [0.9825935481246068, 0.03721166312330182, 0.1681687043833477, 0.06960242939380892]}, "gripper_closure": 0.0660792887210846, "images": ["images/d3e4b2031c2288c8/00140_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00140_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00140_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07446248829364777, "orientation_residual_rad": 0.11522580121089869, "gripper_residual": 0.0660792887210846, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 140, EEF displacement is 4.13 cm; remaining target position residual is 7.45 cm and orientation residual is 6.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 140, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.041250940481774426, "position_residual_m": 0.07446248829364777, "orientation_residual_rad": 0.11522580121089869}, "provenance": {"observation_step": 136, "target_command_step": 139, "feedback_step": 140, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 25, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 140, "eef_pose": {"position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662], "quaternion_xyzw": [0.9825935481246068, 0.03721166312330182, 0.1681687043833477, 0.06960242939380892]}, "gripper_closure": 0.0660792887210846, "images": ["images/d3e4b2031c2288c8/00140_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00140_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00140_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6683756709098816, 0.13728909194469452, 0.585838258266449], "quaternion_xyzw": [0.9771417421748871, 0.019288282292305083, 0.19818263987982368, 0.07446891375535743]}, "gripper_closure": 0.12444934993982315, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 136, "eef_pose": {"position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994], "quaternion_xyzw": [0.969255435600435, -0.025746448853060495, 0.23112348183185705, 0.08039251878369534]}, "gripper_closure": 0.37444934248924255, "images": ["images/d3e4b2031c2288c8/00136_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00136_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00136_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036649610847234726, "orientation_residual_rad": 0.11333787224012026, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6211376190185547, 0.11378591507673264, 0.5250841379165649], "quaternion_xyzw": [0.9854174021609221, 0.08364471888279135, 0.13579427640490258, 0.059296028679054966]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 140, "eef_pose": {"position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662], "quaternion_xyzw": [0.9825935481246068, 0.03721166312330182, 0.1681687043833477, 0.06960242939380892]}, "gripper_closure": 0.0660792887210846, "images": ["images/d3e4b2031c2288c8/00140_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00140_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00140_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07446248829364777, "orientation_residual_rad": 0.11522580121089869, "gripper_residual": 0.0660792887210846, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 25, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.07 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 140, recorded EEF XYZ is (0.681, 0.141, 0.560) m in robot-base coordinates.", "Recorded gripper closure is 0.07 (0 open, 1 closed).", "Since the prior decision observation at frame 136, EEF displacement is 4.13 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 13.42 cm of EEF translation (−X 8.72 cm, −Y 4.63 cm, −Z 9.10 cm), 15.4° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.08715617656707764, -0.04628541320562363, -0.09101638197898865], "translation_norm_m": 0.13424798090828816, "orientation_delta_rad": 0.2689788563151681, "gripper_from": 0.0660792887210846, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 140, "current_images": ["images/d3e4b2031c2288c8/00140_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00140_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00140_wrist_image_left.jpg"], "current_position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662], "current_quaternion_xyzw": [0.9825935481246068, 0.03721166312330182, 0.1681687043833477, 0.06960242939380892], "current_gripper_closure": 0.0660792887210846, "previous_observation": {"source_step": 136, "position_m": [0.7015436887741089, 0.15039286017417908, 0.5942862033843994]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 143, "feedback_step": 144}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5942380428314209, 0.0943169966340065, 0.46863189339637756], "quaternion_xyzw": [0.985792709332916, 0.13572368980762883, 0.07713421051754242, 0.0619848999265732]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 144, "eef_pose": {"position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139], "quaternion_xyzw": [0.9886377008449371, 0.09441194603921971, 0.09656986187802566, 0.06600108097586956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00144_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00144_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00144_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07414700835943222, "orientation_residual_rad": 0.09184767899672884, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 144, EEF displacement is 6.37 cm; remaining target position residual is 7.41 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 144, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06368348081918647, "position_residual_m": 0.07414700835943222, "orientation_residual_rad": 0.09184767899672884}, "provenance": {"observation_step": 140, "target_command_step": 143, "feedback_step": 144, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 26, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 144, "eef_pose": {"position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139], "quaternion_xyzw": [0.9886377008449371, 0.09441194603921971, 0.09656986187802566, 0.06600108097586956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00144_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00144_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00144_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6211376190185547, 0.11378591507673264, 0.5250841379165649], "quaternion_xyzw": [0.9854174021609221, 0.08364471888279135, 0.13579427640490258, 0.059296028679054966]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 140, "eef_pose": {"position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662], "quaternion_xyzw": [0.9825935481246068, 0.03721166312330182, 0.1681687043833477, 0.06960242939380892]}, "gripper_closure": 0.0660792887210846, "images": ["images/d3e4b2031c2288c8/00140_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00140_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00140_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07446248829364777, "orientation_residual_rad": 0.11522580121089869, "gripper_residual": 0.0660792887210846, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5942380428314209, 0.0943169966340065, 0.46863189339637756], "quaternion_xyzw": [0.985792709332916, 0.13572368980762883, 0.07713421051754242, 0.0619848999265732]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 144, "eef_pose": {"position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139], "quaternion_xyzw": [0.9886377008449371, 0.09441194603921971, 0.09656986187802566, 0.06600108097586956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00144_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00144_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00144_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07414700835943222, "orientation_residual_rad": 0.09184767899672884, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 26, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 144, recorded EEF XYZ is (0.653, 0.118, 0.508) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 140, EEF displacement is 6.37 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.75 cm of EEF translation (−X 7.90 cm, −Y 3.76 cm, −Z 9.27 cm), 9.6° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.07899212837219238, -0.03761882334947586, -0.09268608689308167], "translation_norm_m": 0.12745839681448953, "orientation_delta_rad": 0.16706070332257392, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 144, "current_images": ["images/d3e4b2031c2288c8/00144_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00144_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00144_wrist_image_left.jpg"], "current_position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139], "current_quaternion_xyzw": [0.9886377008449371, 0.09441194603921971, 0.09656986187802566, 0.06600108097586956], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 140, "position_m": [0.6813942193984985, 0.14060240983963013, 0.5596482753753662]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 146, "feedback_step": 147}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5739026069641113, 0.08001957088708878, 0.4148467481136322], "quaternion_xyzw": [0.9843242373428821, 0.15819195220299812, 0.042847869030367816, 0.065154908925685]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899], "quaternion_xyzw": [0.9875703782648079, 0.13073160140451695, 0.05253274962485566, 0.06967285400331272]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00147_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00147_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07394707947969437, "orientation_residual_rad": 0.059291868049699485, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 147, EEF displacement is 5.65 cm; remaining target position residual is 7.39 cm and orientation residual is 3.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 147, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.056462872871514275, "position_residual_m": 0.07394707947969437, "orientation_residual_rad": 0.059291868049699485}, "provenance": {"observation_step": 144, "target_command_step": 146, "feedback_step": 147, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 27, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 147, "eef_pose": {"position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899], "quaternion_xyzw": [0.9875703782648079, 0.13073160140451695, 0.05253274962485566, 0.06967285400331272]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00147_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00147_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5942380428314209, 0.0943169966340065, 0.46863189339637756], "quaternion_xyzw": [0.985792709332916, 0.13572368980762883, 0.07713421051754242, 0.0619848999265732]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 144, "eef_pose": {"position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139], "quaternion_xyzw": [0.9886377008449371, 0.09441194603921971, 0.09656986187802566, 0.06600108097586956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00144_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00144_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00144_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07414700835943222, "orientation_residual_rad": 0.09184767899672884, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5739026069641113, 0.08001957088708878, 0.4148467481136322], "quaternion_xyzw": [0.9843242373428821, 0.15819195220299812, 0.042847869030367816, 0.065154908925685]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899], "quaternion_xyzw": [0.9875703782648079, 0.13073160140451695, 0.05253274962485566, 0.06967285400331272]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00147_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00147_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07394707947969437, "orientation_residual_rad": 0.059291868049699485, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 147, recorded EEF XYZ is (0.629, 0.102, 0.459) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 144, EEF displacement is 5.65 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 13.64 cm of EEF translation (−X 8.08 cm, −Y 3.86 cm, −Z 10.29 cm), 5.8° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.0807884931564331, -0.03856223076581955, -0.10288742184638977], "translation_norm_m": 0.13638052589105354, "orientation_delta_rad": 0.10037364987362037, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 147, "current_images": ["images/d3e4b2031c2288c8/00147_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00147_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00147_wrist_image_left.jpg"], "current_position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899], "current_quaternion_xyzw": [0.9875703782648079, 0.13073160140451695, 0.05253274962485566, 0.06967285400331272], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 144, "position_m": [0.6528947353363037, 0.11763839423656464, 0.5075328350067139]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 149, "feedback_step": 150}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5484364032745361, 0.06344415247440338, 0.3558249771595001], "quaternion_xyzw": [0.9842579451558241, 0.16586367978802058, 0.018792937723122866, 0.05807204677421389]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475], "quaternion_xyzw": [0.9857083764710974, 0.1515828088807227, 0.02068039016833999, 0.07052637853334416]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00150_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00150_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07408461719751358, "orientation_residual_rad": 0.038195861909849305, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 150, EEF displacement is 6.58 cm; remaining target position residual is 7.41 cm and orientation residual is 2.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 150, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06575676808942155, "position_residual_m": 0.07408461719751358, "orientation_residual_rad": 0.038195861909849305}, "provenance": {"observation_step": 147, "target_command_step": 149, "feedback_step": 150, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 28, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 150, "eef_pose": {"position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475], "quaternion_xyzw": [0.9857083764710974, 0.1515828088807227, 0.02068039016833999, 0.07052637853334416]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00150_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00150_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5739026069641113, 0.08001957088708878, 0.4148467481136322], "quaternion_xyzw": [0.9843242373428821, 0.15819195220299812, 0.042847869030367816, 0.065154908925685]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899], "quaternion_xyzw": [0.9875703782648079, 0.13073160140451695, 0.05253274962485566, 0.06967285400331272]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00147_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00147_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07394707947969437, "orientation_residual_rad": 0.059291868049699485, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5484364032745361, 0.06344415247440338, 0.3558249771595001], "quaternion_xyzw": [0.9842579451558241, 0.16586367978802058, 0.018792937723122866, 0.05807204677421389]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475], "quaternion_xyzw": [0.9857083764710974, 0.1515828088807227, 0.02068039016833999, 0.07052637853334416]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00150_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00150_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07408461719751358, "orientation_residual_rad": 0.038195861909849305, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 28, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 150, recorded EEF XYZ is (0.603, 0.086, 0.401) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 147, EEF displacement is 6.58 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 14.22 cm of EEF translation (−X 9.70 cm, −Y 2.26 cm, −Z 10.15 cm), 4.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.09697771072387695, -0.022575609385967255, -0.10146450996398926], "translation_norm_m": 0.14215970349794702, "orientation_delta_rad": 0.07448271587186019, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 150, "current_images": ["images/d3e4b2031c2288c8/00150_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00150_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00150_wrist_image_left.jpg"], "current_position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475], "current_quaternion_xyzw": [0.9857083764710974, 0.1515828088807227, 0.02068039016833999, 0.07052637853334416], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 147, "position_m": [0.6292248964309692, 0.10200638324022293, 0.4587123990058899]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 152, "feedback_step": 153}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5059292912483215, 0.06373018026351929, 0.29906874895095825], "quaternion_xyzw": [0.9854637029115305, 0.16454924050183642, 0.00021492488285203355, 0.0422467927949385]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299], "quaternion_xyzw": [0.9854915945408137, 0.1578305457742056, -0.0032651736582933453, 0.06233116837507658]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00153_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00153_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07374359667301178, "orientation_residual_rad": 0.042925635613800465, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 153, EEF displacement is 7.33 cm; remaining target position residual is 7.37 cm and orientation residual is 2.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 153, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.07325421294463433, "position_residual_m": 0.07374359667301178, "orientation_residual_rad": 0.042925635613800465}, "provenance": {"observation_step": 150, "target_command_step": 152, "feedback_step": 153, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 29, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 153, "eef_pose": {"position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299], "quaternion_xyzw": [0.9854915945408137, 0.1578305457742056, -0.0032651736582933453, 0.06233116837507658]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00153_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00153_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5484364032745361, 0.06344415247440338, 0.3558249771595001], "quaternion_xyzw": [0.9842579451558241, 0.16586367978802058, 0.018792937723122866, 0.05807204677421389]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475], "quaternion_xyzw": [0.9857083764710974, 0.1515828088807227, 0.02068039016833999, 0.07052637853334416]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00150_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00150_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07408461719751358, "orientation_residual_rad": 0.038195861909849305, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5059292912483215, 0.06373018026351929, 0.29906874895095825], "quaternion_xyzw": [0.9854637029115305, 0.16454924050183642, 0.00021492488285203355, 0.0422467927949385]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299], "quaternion_xyzw": [0.9854915945408137, 0.1578305457742056, -0.0032651736582933453, 0.06233116837507658]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00153_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00153_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07374359667301178, "orientation_residual_rad": 0.042925635613800465, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 29, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 153, recorded EEF XYZ is (0.568, 0.074, 0.337) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 150, EEF displacement is 7.33 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 13.73 cm of EEF translation (−X 10.08 cm, −Y 1.16 cm, −Z 9.25 cm), 5.1° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.10076549649238586, -0.011602379381656647, -0.09247541427612305], "translation_norm_m": 0.1372588894615336, "orientation_delta_rad": 0.0882160600150218, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 153, "current_images": ["images/d3e4b2031c2288c8/00153_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00153_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00153_wrist_image_left.jpg"], "current_position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299], "current_quaternion_xyzw": [0.9854915945408137, 0.1578305457742056, -0.0032651736582933453, 0.06233116837507658], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 150, "position_m": [0.6029070019721985, 0.08630578964948654, 0.4005332589149475]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 155, "feedback_step": 156}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46741434931755066, 0.0627359077334404, 0.24467816948890686], "quaternion_xyzw": [0.9857624759629232, 0.166368156262219, -0.013501534886723395, 0.020290049804271747]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 156, "eef_pose": {"position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686], "quaternion_xyzw": [0.986010000934666, 0.15934681773746642, -0.021119185080562094, 0.044123120416573965]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00156_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00156_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00156_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06377442181110382, "orientation_residual_rad": 0.05197854673805247, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 156, EEF displacement is 7.62 cm; remaining target position residual is 6.38 cm and orientation residual is 3.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 156, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.07622243191696372, "position_residual_m": 0.06377442181110382, "orientation_residual_rad": 0.05197854673805247}, "provenance": {"observation_step": 153, "target_command_step": 155, "feedback_step": 156, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 30, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 156, "eef_pose": {"position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686], "quaternion_xyzw": [0.986010000934666, 0.15934681773746642, -0.021119185080562094, 0.044123120416573965]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00156_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00156_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00156_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5059292912483215, 0.06373018026351929, 0.29906874895095825], "quaternion_xyzw": [0.9854637029115305, 0.16454924050183642, 0.00021492488285203355, 0.0422467927949385]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299], "quaternion_xyzw": [0.9854915945408137, 0.1578305457742056, -0.0032651736582933453, 0.06233116837507658]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00153_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00153_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07374359667301178, "orientation_residual_rad": 0.042925635613800465, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46741434931755066, 0.0627359077334404, 0.24467816948890686], "quaternion_xyzw": [0.9857624759629232, 0.166368156262219, -0.013501534886723395, 0.020290049804271747]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 156, "eef_pose": {"position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686], "quaternion_xyzw": [0.986010000934666, 0.15934681773746642, -0.021119185080562094, 0.044123120416573965]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00156_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00156_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00156_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06377442181110382, "orientation_residual_rad": 0.05197854673805247, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 30, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 156, recorded EEF XYZ is (0.522, 0.072, 0.277) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 153, EEF displacement is 7.62 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.76 cm of EEF translation (−X 8.01 cm, −Y 0.65 cm, −Z 7.15 cm), 4.2° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.08010688424110413, -0.006505995988845825, -0.07152657210826874], "translation_norm_m": 0.10758945768142854, "orientation_delta_rad": 0.07397261843885077, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 156, "current_images": ["images/d3e4b2031c2288c8/00156_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00156_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00156_wrist_image_left.jpg"], "current_position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686], "current_quaternion_xyzw": [0.986010000934666, 0.15934681773746642, -0.021119185080562094, 0.044123120416573965], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 153, "position_m": [0.5681798458099365, 0.07433828711509705, 0.3371535837650299]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 158, "feedback_step": 159}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44176778197288513, 0.06503722816705704, 0.20514662563800812], "quaternion_xyzw": [0.9840277791890514, 0.17582798331200425, -0.02539670112487242, 0.011351547941625241]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 159, "eef_pose": {"position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572], "quaternion_xyzw": [0.9856693705697135, 0.163370708638634, -0.03338284933697373, 0.025524279612953716]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00159_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00159_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03867034614086151, "orientation_residual_rad": 0.041111471822295756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 159, EEF displacement is 6.95 cm; remaining target position residual is 3.87 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 159, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06949732719311837, "position_residual_m": 0.03867034614086151, "orientation_residual_rad": 0.041111471822295756}, "provenance": {"observation_step": 156, "target_command_step": 158, "feedback_step": 159, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 31, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 159, "eef_pose": {"position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572], "quaternion_xyzw": [0.9856693705697135, 0.163370708638634, -0.03338284933697373, 0.025524279612953716]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00159_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00159_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46741434931755066, 0.0627359077334404, 0.24467816948890686], "quaternion_xyzw": [0.9857624759629232, 0.166368156262219, -0.013501534886723395, 0.020290049804271747]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 156, "eef_pose": {"position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686], "quaternion_xyzw": [0.986010000934666, 0.15934681773746642, -0.021119185080562094, 0.044123120416573965]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00156_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00156_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00156_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06377442181110382, "orientation_residual_rad": 0.05197854673805247, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44176778197288513, 0.06503722816705704, 0.20514662563800812], "quaternion_xyzw": [0.9840277791890514, 0.17582798331200425, -0.02539670112487242, 0.011351547941625241]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 159, "eef_pose": {"position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572], "quaternion_xyzw": [0.9856693705697135, 0.163370708638634, -0.03338284933697373, 0.025524279612953716]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00159_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00159_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03867034614086151, "orientation_residual_rad": 0.041111471822295756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 31, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 159, recorded EEF XYZ is (0.474, 0.068, 0.227) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 156, EEF displacement is 6.95 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.56 cm of EEF translation (−X 4.74 cm, −Y 0.37 cm, −Z 4.53 cm), 4.5° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.047357261180877686, -0.003693133592605591, -0.04530772566795349], "translation_norm_m": 0.06564403573432416, "orientation_delta_rad": 0.07858495762820478, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 159, "current_images": ["images/d3e4b2031c2288c8/00159_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00159_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00159_wrist_image_left.jpg"], "current_position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572], "current_quaternion_xyzw": [0.9856693705697135, 0.163370708638634, -0.03338284933697373, 0.025524279612953716], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 156, "position_m": [0.5218746662139893, 0.07154322415590286, 0.27667319774627686]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 162, "feedback_step": 163}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42638495564460754, 0.06463923305273056, 0.1813371181488037], "quaternion_xyzw": [0.9790985001313272, 0.20082247956646515, -0.026166103975390955, 0.018756165495947944]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 163, "eef_pose": {"position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012], "quaternion_xyzw": [0.9828149538511919, 0.17916618340898735, -0.04084405520018065, 0.017493094750254227]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00163_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00163_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00163_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.012786435894668102, "orientation_residual_rad": 0.05291070252472139, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 163, EEF displacement is 5.29 cm; remaining target position residual is 1.28 cm and orientation residual is 3.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 163, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05288228947688731, "position_residual_m": 0.012786435894668102, "orientation_residual_rad": 0.05291070252472139}, "provenance": {"observation_step": 159, "target_command_step": 162, "feedback_step": 163, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 32, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 163, "eef_pose": {"position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012], "quaternion_xyzw": [0.9828149538511919, 0.17916618340898735, -0.04084405520018065, 0.017493094750254227]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00163_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00163_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00163_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44176778197288513, 0.06503722816705704, 0.20514662563800812], "quaternion_xyzw": [0.9840277791890514, 0.17582798331200425, -0.02539670112487242, 0.011351547941625241]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 159, "eef_pose": {"position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572], "quaternion_xyzw": [0.9856693705697135, 0.163370708638634, -0.03338284933697373, 0.025524279612953716]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00159_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00159_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03867034614086151, "orientation_residual_rad": 0.041111471822295756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42638495564460754, 0.06463923305273056, 0.1813371181488037], "quaternion_xyzw": [0.9790985001313272, 0.20082247956646515, -0.026166103975390955, 0.018756165495947944]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 163, "eef_pose": {"position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012], "quaternion_xyzw": [0.9828149538511919, 0.17916618340898735, -0.04084405520018065, 0.017493094750254227]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00163_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00163_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00163_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.012786435894668102, "orientation_residual_rad": 0.05291070252472139, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 32, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 163, recorded EEF XYZ is (0.435, 0.066, 0.190) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 159, EEF displacement is 5.29 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.42 cm of EEF translation (+X 2.90 cm, −Y 0.47 cm, −Z 1.74 cm), 14.1° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.02898991107940674, -0.004697062075138092, -0.017438262701034546], "translation_norm_m": 0.03415509248355072, "orientation_delta_rad": 0.24598272693911882, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 163, "current_images": ["images/d3e4b2031c2288c8/00163_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00163_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00163_wrist_image_left.jpg"], "current_position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012], "current_quaternion_xyzw": [0.9828149538511919, 0.17916618340898735, -0.04084405520018065, 0.017493094750254227], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 159, "position_m": [0.47374221682548523, 0.06833236664533615, 0.2266448438167572]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 170, "feedback_step": 171}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4644727408885956, 0.06136177480220795, 0.17277051508426666], "quaternion_xyzw": [0.9565188244013384, 0.2810860416073439, -0.01647159215370091, 0.07609903042298453]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403], "quaternion_xyzw": [0.9636964185216815, 0.2584011416791514, -0.028487922776890898, 0.060881041082203005]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00171_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00171_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.024609830230474472, "orientation_residual_rad": 0.061389768386224744, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 171, EEF displacement is 1.18 cm; remaining target position residual is 2.46 cm and orientation residual is 3.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 171, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.011822487562833765, "position_residual_m": 0.024609830230474472, "orientation_residual_rad": 0.061389768386224744}, "provenance": {"observation_step": 163, "target_command_step": 170, "feedback_step": 171, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 33, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403], "quaternion_xyzw": [0.9636964185216815, 0.2584011416791514, -0.028487922776890898, 0.060881041082203005]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00171_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00171_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42638495564460754, 0.06463923305273056, 0.1813371181488037], "quaternion_xyzw": [0.9790985001313272, 0.20082247956646515, -0.026166103975390955, 0.018756165495947944]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 163, "eef_pose": {"position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012], "quaternion_xyzw": [0.9828149538511919, 0.17916618340898735, -0.04084405520018065, 0.017493094750254227]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00163_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00163_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00163_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.012786435894668102, "orientation_residual_rad": 0.05291070252472139, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4644727408885956, 0.06136177480220795, 0.17277051508426666], "quaternion_xyzw": [0.9565188244013384, 0.2810860416073439, -0.01647159215370091, 0.07609903042298453]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403], "quaternion_xyzw": [0.9636964185216815, 0.2584011416791514, -0.028487922776890898, 0.060881041082203005]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00171_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00171_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.024609830230474472, "orientation_residual_rad": 0.061389768386224744, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 33, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 171, recorded EEF XYZ is (0.441, 0.061, 0.181) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 163, EEF displacement is 1.18 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.34 cm of EEF translation (+X 5.41 cm, −Y 0.02 cm, −Z 4.96 cm), 11.4° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.05414086580276489, -0.000208340585231781, -0.04959188401699066], "translation_norm_m": 0.0734209215144233, "orientation_delta_rad": 0.1984440053022065, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 171, "current_images": ["images/d3e4b2031c2288c8/00171_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00171_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00171_wrist_image_left.jpg"], "current_position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403], "current_quaternion_xyzw": [0.9636964185216815, 0.2584011416791514, -0.028487922776890898, 0.060881041082203005], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 163, "position_m": [0.43548282980918884, 0.06605883687734604, 0.1902087777853012]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 179, "feedback_step": 180}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4954577684402466, 0.06107190623879433, 0.13151195645332336], "quaternion_xyzw": [0.9399556638484023, 0.340061977205698, 0.009909016387668114, 0.02725826576452529]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484], "quaternion_xyzw": [0.9441984161720696, 0.3254664596326076, -0.0020218905414017695, 0.050565269810510634]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00180_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00180_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.021979041397571564, "orientation_residual_rad": 0.060552888575741176, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 180, EEF displacement is 5.26 cm; remaining target position residual is 2.20 cm and orientation residual is 3.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 180, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05261741700976933, "position_residual_m": 0.021979041397571564, "orientation_residual_rad": 0.060552888575741176}, "provenance": {"observation_step": 171, "target_command_step": 179, "feedback_step": 180, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 34, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 180, "eef_pose": {"position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484], "quaternion_xyzw": [0.9441984161720696, 0.3254664596326076, -0.0020218905414017695, 0.050565269810510634]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00180_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00180_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4644727408885956, 0.06136177480220795, 0.17277051508426666], "quaternion_xyzw": [0.9565188244013384, 0.2810860416073439, -0.01647159215370091, 0.07609903042298453]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403], "quaternion_xyzw": [0.9636964185216815, 0.2584011416791514, -0.028487922776890898, 0.060881041082203005]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00171_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00171_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.024609830230474472, "orientation_residual_rad": 0.061389768386224744, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4954577684402466, 0.06107190623879433, 0.13151195645332336], "quaternion_xyzw": [0.9399556638484023, 0.340061977205698, 0.009909016387668114, 0.02725826576452529]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484], "quaternion_xyzw": [0.9441984161720696, 0.3254664596326076, -0.0020218905414017695, 0.050565269810510634]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00180_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00180_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.021979041397571564, "orientation_residual_rad": 0.060552888575741176, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 34, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 180, recorded EEF XYZ is (0.483, 0.065, 0.149) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 171, EEF displacement is 5.26 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.69 cm of EEF translation (+X 2.35 cm, −Y 1.99 cm, −Z 4.79 cm), 6.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.023508518934249878, -0.01987791433930397, -0.0478920042514801], "translation_norm_m": 0.05693352274527266, "orientation_delta_rad": 0.10957978577919711, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 180, "current_images": ["images/d3e4b2031c2288c8/00180_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00180_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00180_wrist_image_left.jpg"], "current_position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484], "current_quaternion_xyzw": [0.9441984161720696, 0.3254664596326076, -0.0020218905414017695, 0.050565269810510634], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 171, "position_m": [0.4413169026374817, 0.06128024682402611, 0.18110384047031403]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 189, "feedback_step": 190}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5064414143562317, 0.04517832770943642, 0.10123616456985474], "quaternion_xyzw": [-0.9416413808314423, -0.3366035145490327, -0.001008109326660265, 0.002927048800269698]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 190, "eef_pose": {"position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452], "quaternion_xyzw": [0.9424399029717648, 0.33422842497272703, -0.009639171181599689, 0.0023400012291955735]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00190_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00190_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00190_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.014588605612516403, "orientation_residual_rad": 0.024280601028069313, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 190, EEF displacement is 5.02 cm; remaining target position residual is 1.46 cm and orientation residual is 1.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 190, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.050183960516293744, "position_residual_m": 0.014588605612516403, "orientation_residual_rad": 0.024280601028069313}, "provenance": {"observation_step": 180, "target_command_step": 189, "feedback_step": 190, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 35, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 190, "eef_pose": {"position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452], "quaternion_xyzw": [0.9424399029717648, 0.33422842497272703, -0.009639171181599689, 0.0023400012291955735]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00190_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00190_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00190_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4954577684402466, 0.06107190623879433, 0.13151195645332336], "quaternion_xyzw": [0.9399556638484023, 0.340061977205698, 0.009909016387668114, 0.02725826576452529]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484], "quaternion_xyzw": [0.9441984161720696, 0.3254664596326076, -0.0020218905414017695, 0.050565269810510634]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00180_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00180_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.021979041397571564, "orientation_residual_rad": 0.060552888575741176, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5064414143562317, 0.04517832770943642, 0.10123616456985474], "quaternion_xyzw": [-0.9416413808314423, -0.3366035145490327, -0.001008109326660265, 0.002927048800269698]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 190, "eef_pose": {"position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452], "quaternion_xyzw": [0.9424399029717648, 0.33422842497272703, -0.009639171181599689, 0.0023400012291955735]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00190_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00190_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00190_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.014588605612516403, "orientation_residual_rad": 0.024280601028069313, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 35, "subgoal": {"id": "sg-006", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 190, recorded EEF XYZ is (0.493, 0.051, 0.102) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 180, EEF displacement is 5.02 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.56 cm of EEF translation (+X 5.07 cm, −Y 3.71 cm, −Z 1.88 cm), 2.4° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0507148802280426, -0.03707554563879967, -0.018753059208393097], "translation_norm_m": 0.06556121102170795, "orientation_delta_rad": 0.04262290754422744, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 190, "current_images": ["images/d3e4b2031c2288c8/00190_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00190_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00190_wrist_image_left.jpg"], "current_position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452], "current_quaternion_xyzw": [0.9424399029717648, 0.33422842497272703, -0.009639171181599689, 0.0023400012291955735], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 180, "position_m": [0.4829328954219818, 0.06505624204874039, 0.14912816882133484]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 204, "feedback_step": 205}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5437792539596558, 0.013866789638996124, 0.08329453319311142], "quaternion_xyzw": [-0.9402042763937998, -0.33980038767955373, 0.01616473875647047, 0.01703867379144439]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 205, "eef_pose": {"position_m": [0.5278340578079224, 0.019969727843999863, 0.09031200408935547], "quaternion_xyzw": [-0.9413464670865113, -0.3371779183268647, 0.012845175819460493, 0.0035891161409635887]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00205_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00205_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00205_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.018459144979715347, "orientation_residual_rad": 0.028291014874824095, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 205, EEF displacement is 4.80 cm; remaining target position residual is 1.85 cm and orientation residual is 1.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 205, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04802038499477727, "position_residual_m": 0.018459144979715347, "orientation_residual_rad": 0.028291014874824095}, "provenance": {"observation_step": 190, "target_command_step": 204, "feedback_step": 205, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 36, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 205, "eef_pose": {"position_m": [0.5278340578079224, 0.019969727843999863, 0.09031200408935547], "quaternion_xyzw": [-0.9413464670865113, -0.3371779183268647, 0.012845175819460493, 0.0035891161409635887]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00205_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00205_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00205_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5064414143562317, 0.04517832770943642, 0.10123616456985474], "quaternion_xyzw": [-0.9416413808314423, -0.3366035145490327, -0.001008109326660265, 0.002927048800269698]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 190, "eef_pose": {"position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452], "quaternion_xyzw": [0.9424399029717648, 0.33422842497272703, -0.009639171181599689, 0.0023400012291955735]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00190_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00190_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00190_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.014588605612516403, "orientation_residual_rad": 0.024280601028069313, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5437792539596558, 0.013866789638996124, 0.08329453319311142], "quaternion_xyzw": [-0.9402042763937998, -0.33980038767955373, 0.01616473875647047, 0.01703867379144439]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 205, "eef_pose": {"position_m": [0.5278340578079224, 0.019969727843999863, 0.09031200408935547], "quaternion_xyzw": [-0.9413464670865113, -0.3371779183268647, 0.012845175819460493, 0.0035891161409635887]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00205_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00205_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00205_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.018459144979715347, "orientation_residual_rad": 0.028291014874824095, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 36, "subgoal": {"id": "sg-007", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.48 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 205, recorded EEF XYZ is (0.528, 0.020, 0.090) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 190, EEF displacement is 4.80 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.57 cm of EEF translation (+X 2.54 cm, −Y 2.39 cm, −Z 0.76 cm), 1.9° orientation change, and gripper closure 0.48.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.02538985013961792, -0.023946389090269804, -0.007553622126579285], "translation_norm_m": 0.0357089799323083, "orientation_delta_rad": 0.03318836323505381, "gripper_from": 0.0, "gripper_target": 0.4788471758365631, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 205, "current_images": ["images/d3e4b2031c2288c8/00205_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00205_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00205_wrist_image_left.jpg"], "current_position_m": [0.5278340578079224, 0.019969727843999863, 0.09031200408935547], "current_quaternion_xyzw": [-0.9413464670865113, -0.3371779183268647, 0.012845175819460493, 0.0035891161409635887], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 190, "position_m": [0.49306437373161316, 0.05094233527779579, 0.10204759240150452]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 215, "feedback_step": 216}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5532239079475403, -0.003976661246269941, 0.08275838196277618], "quaternion_xyzw": [-0.9430223340080294, -0.3315264954597969, 0.024947719091118262, 0.013291790035377513]}, "gripper_closure": 0.4788471758365631, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 216, "eef_pose": {"position_m": [0.5460837483406067, 0.000556513958144933, 0.08169011026620865], "quaternion_xyzw": [-0.9434954522351576, -0.3305088956163642, 0.022964733134741056, 0.007267913185827089]}, "gripper_closure": 0.30837005376815796, "images": ["images/d3e4b2031c2288c8/00216_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00216_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00216_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.00852483231574297, "orientation_residual_rad": 0.012880810420793636, "gripper_residual": 0.17047712206840515, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 216, EEF displacement is 2.80 cm; remaining target position residual is 0.85 cm and orientation residual is 0.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 216, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.028004662665604738, "position_residual_m": 0.00852483231574297, "orientation_residual_rad": 0.012880810420793636}, "provenance": {"observation_step": 205, "target_command_step": 215, "feedback_step": 216, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 37, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 216, "eef_pose": {"position_m": [0.5460837483406067, 0.000556513958144933, 0.08169011026620865], "quaternion_xyzw": [-0.9434954522351576, -0.3305088956163642, 0.022964733134741056, 0.007267913185827089]}, "gripper_closure": 0.30837005376815796, "images": ["images/d3e4b2031c2288c8/00216_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00216_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00216_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5437792539596558, 0.013866789638996124, 0.08329453319311142], "quaternion_xyzw": [-0.9402042763937998, -0.33980038767955373, 0.01616473875647047, 0.01703867379144439]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 205, "eef_pose": {"position_m": [0.5278340578079224, 0.019969727843999863, 0.09031200408935547], "quaternion_xyzw": [-0.9413464670865113, -0.3371779183268647, 0.012845175819460493, 0.0035891161409635887]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00205_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00205_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00205_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.018459144979715347, "orientation_residual_rad": 0.028291014874824095, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5532239079475403, -0.003976661246269941, 0.08275838196277618], "quaternion_xyzw": [-0.9430223340080294, -0.3315264954597969, 0.024947719091118262, 0.013291790035377513]}, "gripper_closure": 0.4788471758365631, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 216, "eef_pose": {"position_m": [0.5460837483406067, 0.000556513958144933, 0.08169011026620865], "quaternion_xyzw": [-0.9434954522351576, -0.3305088956163642, 0.022964733134741056, 0.007267913185827089]}, "gripper_closure": 0.30837005376815796, "images": ["images/d3e4b2031c2288c8/00216_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00216_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00216_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.00852483231574297, "orientation_residual_rad": 0.012880810420793636, "gripper_residual": 0.17047712206840515, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 37, "subgoal": {"id": "sg-007", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.31 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 231, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.014906125520259151, "position_residual_m": 0.034543003886938095, "orientation_residual_rad": 0.031239482671343504}, "provenance": {"observation_step": 216, "target_command_step": 230, "feedback_step": 231, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 231, recorded EEF XYZ is (0.551, -0.000, 0.096) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 216, EEF displacement is 1.49 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.29 cm of EEF translation (−X 4.15 cm, +Y 5.33 cm, +Z 7.76 cm), 5.0° orientation change, and gripper closure 0.95.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.04149097204208374, 0.05333947476174217, 0.07761675119400024], "translation_norm_m": 0.10291239184260971, "orientation_delta_rad": 0.0871714444700457, "gripper_from": 0.784140944480896, "gripper_target": 0.9460352659225464, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 231, "current_images": ["images/d3e4b2031c2288c8/00231_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00231_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00231_wrist_image_left.jpg"], "current_position_m": [0.5508949160575867, -0.00020138632680755109, 0.09577807784080505], "current_quaternion_xyzw": [-0.9447820484453686, -0.3244551964116206, 0.04496954282521912, 0.009666782037504325], "current_gripper_closure": 0.784140944480896, "previous_observation": {"source_step": 216, "position_m": [0.5460837483406067, 0.000556513958144933, 0.08169011026620865]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 236, "feedback_step": 237}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5094039440155029, 0.053138088434934616, 0.1733948290348053], "quaternion_xyzw": [-0.9403627362738965, -0.33766765579411534, 0.015214366490149256, 0.03830145572012048]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 237, "eef_pose": {"position_m": [0.5365356206893921, 0.03769417852163315, 0.13598819077014923], "quaternion_xyzw": [-0.9447082613870291, -0.3249172765197499, 0.029771706288250342, 0.032691127095453264]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00237_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00237_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04872267320752144, "orientation_residual_rad": 0.04122439722163885, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 237, EEF displacement is 5.71 cm; remaining target position residual is 4.87 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 237, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05708867120930422, "position_residual_m": 0.04872267320752144, "orientation_residual_rad": 0.04122439722163885}, "provenance": {"observation_step": 231, "target_command_step": 236, "feedback_step": 237, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 39, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 237, "eef_pose": {"position_m": [0.5365356206893921, 0.03769417852163315, 0.13598819077014923], "quaternion_xyzw": [-0.9447082613870291, -0.3249172765197499, 0.029771706288250342, 0.032691127095453264]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00237_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00237_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5401747226715088, 0.009197043254971504, 0.1272418051958084], "quaternion_xyzw": [-0.9441017237909215, -0.32583208700641053, 0.043293956656135606, 0.025120102092035353]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 231, "eef_pose": {"position_m": [0.5508949160575867, -0.00020138632680755109, 0.09577807784080505], "quaternion_xyzw": [-0.9447820484453686, -0.3244551964116206, 0.04496954282521912, 0.009666782037504325]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00231_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00231_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00231_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.034543003886938095, "orientation_residual_rad": 0.031239482671343504, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5094039440155029, 0.053138088434934616, 0.1733948290348053], "quaternion_xyzw": [-0.9403627362738965, -0.33766765579411534, 0.015214366490149256, 0.03830145572012048]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 237, "eef_pose": {"position_m": [0.5365356206893921, 0.03769417852163315, 0.13598819077014923], "quaternion_xyzw": [-0.9447082613870291, -0.3249172765197499, 0.029771706288250342, 0.032691127095453264]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00237_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00237_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04872267320752144, "orientation_residual_rad": 0.04122439722163885, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 39, "subgoal": {"id": "sg-008", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 245, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05948318885634977, "position_residual_m": 0.044340237975120544, "orientation_residual_rad": 0.0798898224941916}, "provenance": {"observation_step": 241, "target_command_step": 244, "feedback_step": 245, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 41, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 245, "eef_pose": {"position_m": [0.5017396211624146, 0.12015918642282486, 0.19824065268039703], "quaternion_xyzw": [-0.9203480257171369, -0.39020408251644206, -0.00707133062408562, 0.025500624095789185]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00245_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00245_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00245_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49320584535598755, 0.09410132467746735, 0.19894111156463623], "quaternion_xyzw": [-0.9277476173004897, -0.3719409285730855, -0.008477128519448597, 0.02953713827573332]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 241, "eef_pose": {"position_m": [0.5155026912689209, 0.07149264961481094, 0.16692937910556793], "quaternion_xyzw": [-0.9372015508531519, -0.34673725042944514, 0.015666192481537146, 0.03436717410853938]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00241_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00241_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00241_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04508938267827034, "orientation_residual_rad": 0.07296517157053017, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49477601051330566, 0.15467801690101624, 0.2251853197813034], "quaternion_xyzw": [-0.9110939155225435, -0.40943639829188483, -0.040820215689794166, 0.02456466654787375]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 245, "eef_pose": {"position_m": [0.5017396211624146, 0.12015918642282486, 0.19824065268039703], "quaternion_xyzw": [-0.9203480257171369, -0.39020408251644206, -0.00707133062408562, 0.025500624095789185]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00245_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00245_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00245_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.044340237975120544, "orientation_residual_rad": 0.0798898224941916, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 41, "subgoal": {"id": "sg-008", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 42, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 248, "eef_pose": {"position_m": [0.49733152985572815, 0.16789759695529938, 0.2210184633731842], "quaternion_xyzw": [-0.907462294183428, -0.4173965900787246, -0.0374512449658731, 0.029827428258380827]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00248_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00248_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00248_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49477601051330566, 0.15467801690101624, 0.2251853197813034], "quaternion_xyzw": [-0.9110939155225435, -0.40943639829188483, -0.040820215689794166, 0.02456466654787375]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 245, "eef_pose": {"position_m": [0.5017396211624146, 0.12015918642282486, 0.19824065268039703], "quaternion_xyzw": [-0.9203480257171369, -0.39020408251644206, -0.00707133062408562, 0.025500624095789185]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00245_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00245_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00245_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.044340237975120544, "orientation_residual_rad": 0.0798898224941916, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4907339811325073, 0.19984309375286102, 0.24755097925662994], "quaternion_xyzw": [-0.8993230373400245, -0.4294001692800168, -0.07029932582494253, 0.04349222827545761]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 248, "eef_pose": {"position_m": [0.49733152985572815, 0.16789759695529938, 0.2210184633731842], "quaternion_xyzw": [-0.907462294183428, -0.4173965900787246, -0.0374512449658731, 0.029827428258380827]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00248_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00248_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00248_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04204779118299484, "orientation_residual_rad": 0.07684369040847001, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 42, "subgoal": {"id": "sg-008", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 248, recorded EEF XYZ is (0.497, 0.168, 0.221) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 245, EEF displacement is 5.31 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.60 cm of EEF translation (−X 1.77 cm, +Y 7.35 cm, +Z 4.10 cm), 8.0° orientation change, and gripper closure 0.95.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.01773008704185486, 0.07345235347747803, 0.041017085313797], "translation_norm_m": 0.08597677305837566, "orientation_delta_rad": 0.1392213136652583, "gripper_from": 0.784140944480896, "gripper_target": 0.9460352659225464, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 248, "current_images": ["images/d3e4b2031c2288c8/00248_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00248_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00248_wrist_image_left.jpg"], "current_position_m": [0.49733152985572815, 0.16789759695529938, 0.2210184633731842], "current_quaternion_xyzw": [-0.907462294183428, -0.4173965900787246, -0.0374512449658731, 0.029827428258380827], "current_gripper_closure": 0.784140944480896, "previous_observation": {"source_step": 245, "position_m": [0.5017396211624146, 0.12015918642282486, 0.19824065268039703]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 250, "feedback_step": 251}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4796014428138733, 0.2413499504327774, 0.2620355486869812], "quaternion_xyzw": [-0.8913235918183084, -0.4393408232075789, -0.08906320893558872, 0.06774688587302082]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 251, "eef_pose": {"position_m": [0.48785340785980225, 0.2139456570148468, 0.24001094698905945], "quaternion_xyzw": [-0.899085795159504, -0.43043725639016767, -0.06322935351343198, 0.048688295389967766]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00251_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00251_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00251_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03611334040760994, "orientation_residual_rad": 0.0684180496857015, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 251, EEF displacement is 5.07 cm; remaining target position residual is 3.61 cm and orientation residual is 3.9°. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 43, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 251, "eef_pose": {"position_m": [0.48785340785980225, 0.2139456570148468, 0.24001094698905945], "quaternion_xyzw": [-0.899085795159504, -0.43043725639016767, -0.06322935351343198, 0.048688295389967766]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00251_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00251_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00251_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4907339811325073, 0.19984309375286102, 0.24755097925662994], "quaternion_xyzw": [-0.8993230373400245, -0.4294001692800168, -0.07029932582494253, 0.04349222827545761]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 248, "eef_pose": {"position_m": [0.49733152985572815, 0.16789759695529938, 0.2210184633731842], "quaternion_xyzw": [-0.907462294183428, -0.4173965900787246, -0.0374512449658731, 0.029827428258380827]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00248_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00248_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00248_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04204779118299484, "orientation_residual_rad": 0.07684369040847001, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4796014428138733, 0.2413499504327774, 0.2620355486869812], "quaternion_xyzw": [-0.8913235918183084, -0.4393408232075789, -0.08906320893558872, 0.06774688587302082]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 251, "eef_pose": {"position_m": [0.48785340785980225, 0.2139456570148468, 0.24001094698905945], "quaternion_xyzw": [-0.899085795159504, -0.43043725639016767, -0.06322935351343198, 0.048688295389967766]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00251_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00251_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00251_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03611334040760994, "orientation_residual_rad": 0.0684180496857015, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 43, "subgoal": {"id": "sg-009", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 45, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 260, "eef_pose": {"position_m": [0.4490090608596802, 0.31721922755241394, 0.2681865096092224], "quaternion_xyzw": [-0.8763036199961787, -0.44907031564427435, -0.11868039548426759, 0.1278388865582087]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00260_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00260_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00260_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4648596942424774, 0.28861376643180847, 0.2699681520462036], "quaternion_xyzw": [-0.8796294781794692, -0.451513802397782, -0.10958698315988186, 0.10187227534480267]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 255, "eef_pose": {"position_m": [0.4722081124782562, 0.26594680547714233, 0.2560292184352875], "quaternion_xyzw": [-0.889533597282097, -0.44190058321590675, -0.08576608304718364, 0.07808990241098647]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00255_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00255_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00255_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.027605874463915825, "orientation_residual_rad": 0.07276504954592367, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.43678411841392517, 0.32866930961608887, 0.2708911597728729], "quaternion_xyzw": [-0.8615362677343336, -0.45465093059027223, -0.15837020004298719, 0.16114177121447562]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 260, "eef_pose": {"position_m": [0.4490090608596802, 0.31721922755241394, 0.2681865096092224], "quaternion_xyzw": [-0.8763036199961787, -0.44907031564427435, -0.11868039548426759, 0.1278388865582087]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00260_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00260_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00260_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.016966694965958595, "orientation_residual_rad": 0.1083383239106972, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 45, "subgoal": {"id": "sg-009", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 47, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 272, "eef_pose": {"position_m": [0.4050668776035309, 0.35484692454338074, 0.2543860077857971], "quaternion_xyzw": [-0.838953094827217, -0.41852042551909174, -0.26292906410531286, 0.22774254181390244]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00272_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00272_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4125936031341553, 0.34883764386177063, 0.2611333727836609], "quaternion_xyzw": [-0.833268598292422, -0.44957550276073255, -0.23860394336661125, 0.21590152530058687]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 265, "eef_pose": {"position_m": [0.42400047183036804, 0.3552897274494171, 0.2711670994758606], "quaternion_xyzw": [-0.8524350244644325, -0.449216547943732, -0.19683821602571916, 0.18114562879531865]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00265_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00265_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00265_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.016505202278494835, "orientation_residual_rad": 0.11525186173724694, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.39603400230407715, 0.33523818850517273, 0.23719802498817444], "quaternion_xyzw": [-0.8405916632065528, -0.40383020507422807, -0.28094987222309664, 0.226702427237059]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 272, "eef_pose": {"position_m": [0.4050668776035309, 0.35484692454338074, 0.2543860077857971], "quaternion_xyzw": [-0.838953094827217, -0.41852042551909174, -0.26292906410531286, 0.22774254181390244]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00272_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00272_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02759568952023983, "orientation_residual_rad": 0.04666234193205608, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 47, "subgoal": {"id": "sg-010", "phase": "lower_with_closure", "title": "Lower / position with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.95 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 278, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05851064939531202, "position_residual_m": 0.016031239181756973, "orientation_residual_rad": 0.04444808067624207}, "provenance": {"observation_step": 272, "target_command_step": 277, "feedback_step": 278, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 48, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 278, "eef_pose": {"position_m": [0.39566370844841003, 0.3152616024017334, 0.21233747899532318], "quaternion_xyzw": [-0.8476273659603193, -0.4029845043037018, -0.26429079203097455, 0.22199485357528198]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00278_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00278_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00278_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.39603400230407715, 0.33523818850517273, 0.23719802498817444], "quaternion_xyzw": [-0.8405916632065528, -0.40383020507422807, -0.28094987222309664, 0.226702427237059]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 272, "eef_pose": {"position_m": [0.4050668776035309, 0.35484692454338074, 0.2543860077857971], "quaternion_xyzw": [-0.838953094827217, -0.41852042551909174, -0.26292906410531286, 0.22774254181390244]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00272_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00272_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00272_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02759568952023983, "orientation_residual_rad": 0.04666234193205608, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38798877596855164, 0.3021337389945984, 0.20726251602172852], "quaternion_xyzw": [-0.8519502770685915, -0.39353593389520275, -0.27669480145692976, 0.20676116894303612]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 278, "eef_pose": {"position_m": [0.39566370844841003, 0.3152616024017334, 0.21233747899532318], "quaternion_xyzw": [-0.8476273659603193, -0.4029845043037018, -0.26429079203097455, 0.22199485357528198]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00278_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00278_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00278_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.016031239181756973, "orientation_residual_rad": 0.04444808067624207, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 48, "subgoal": {"id": "sg-010", "phase": "lower_with_closure", "title": "Lower / position with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.94 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 278, recorded EEF XYZ is (0.396, 0.315, 0.212) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 272, EEF displacement is 5.85 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.67 cm of EEF translation (−X 0.79 cm, −Y 4.03 cm, −Z 2.22 cm), 9.6° orientation change, and gripper closure 0.94.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.007894068956375122, -0.04026511311531067, -0.022206738591194153], "translation_norm_m": 0.046655491613896864, "orientation_delta_rad": 0.16740809411189334, "gripper_from": 0.784140944480896, "gripper_target": 0.9352292418479919, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 278, "current_images": ["images/d3e4b2031c2288c8/00278_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00278_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00278_wrist_image_left.jpg"], "current_position_m": [0.39566370844841003, 0.3152616024017334, 0.21233747899532318], "current_quaternion_xyzw": [-0.8476273659603193, -0.4029845043037018, -0.26429079203097455, 0.22199485357528198], "current_gripper_closure": 0.784140944480896, "previous_observation": {"source_step": 272, "position_m": [0.4050668776035309, 0.35484692454338074, 0.2543860077857971]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 289, "feedback_step": 290}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3877696394920349, 0.27499648928642273, 0.19013074040412903], "quaternion_xyzw": [-0.8590446162271762, -0.3838110802435216, -0.30306235225034983, 0.1512766097646614]}, "gripper_closure": 0.9352292418479919, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 290, "eef_pose": {"position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848], "quaternion_xyzw": [-0.8600688739554934, -0.3878175016687205, -0.28762530333861996, 0.16477500517896593]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00290_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00290_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00290_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.014013736508786678, "orientation_residual_rad": 0.04183900734216849, "gripper_residual": 0.15108829736709595, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 290, EEF displacement is 5.03 cm; remaining target position residual is 1.40 cm and orientation residual is 2.4°. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 49, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 290, "eef_pose": {"position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848], "quaternion_xyzw": [-0.8600688739554934, -0.3878175016687205, -0.28762530333861996, 0.16477500517896593]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00290_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00290_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00290_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38798877596855164, 0.3021337389945984, 0.20726251602172852], "quaternion_xyzw": [-0.8519502770685915, -0.39353593389520275, -0.27669480145692976, 0.20676116894303612]}, "gripper_closure": 0.9460352659225464, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 278, "eef_pose": {"position_m": [0.39566370844841003, 0.3152616024017334, 0.21233747899532318], "quaternion_xyzw": [-0.8476273659603193, -0.4029845043037018, -0.26429079203097455, 0.22199485357528198]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00278_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00278_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00278_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.016031239181756973, "orientation_residual_rad": 0.04444808067624207, "gripper_residual": 0.1618943214416504, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3877696394920349, 0.27499648928642273, 0.19013074040412903], "quaternion_xyzw": [-0.8590446162271762, -0.3838110802435216, -0.30306235225034983, 0.1512766097646614]}, "gripper_closure": 0.9352292418479919, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 290, "eef_pose": {"position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848], "quaternion_xyzw": [-0.8600688739554934, -0.3878175016687205, -0.28762530333861996, 0.16477500517896593]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00290_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00290_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00290_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.014013736508786678, "orientation_residual_rad": 0.04183900734216849, "gripper_residual": 0.15108829736709595, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 49, "subgoal": {"id": "sg-011", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.53 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 290, recorded EEF XYZ is (0.400, 0.275, 0.183) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 278, EEF displacement is 5.03 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 1.95 cm of EEF translation (−X 1.75 cm, −Y 0.23 cm, +Z 0.83 cm), 2.3° orientation change, and gripper closure 0.53.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.017502158880233765, -0.0022715330123901367, 0.008260279893875122], "translation_norm_m": 0.019486345260732743, "orientation_delta_rad": 0.040657586250807204, "gripper_from": 0.784140944480896, "gripper_target": 0.5297356843948364, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 290, "current_images": ["images/d3e4b2031c2288c8/00290_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00290_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00290_wrist_image_left.jpg"], "current_position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848], "current_quaternion_xyzw": [-0.8600688739554934, -0.3878175016687205, -0.28762530333861996, 0.16477500517896593], "current_gripper_closure": 0.784140944480896, "previous_observation": {"source_step": 278, "position_m": [0.39566370844841003, 0.3152616024017334, 0.21233747899532318]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 292, "feedback_step": 293}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3821054995059967, 0.2726362943649292, 0.1908918023109436], "quaternion_xyzw": [-0.8566869530540892, -0.3917265256536842, -0.30033973076911286, 0.14977930326894645]}, "gripper_closure": 0.5297356843948364, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 293, "eef_pose": {"position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657], "quaternion_xyzw": [-0.8604274218157085, -0.3902379062036879, -0.28889076165572203, 0.15466465717581132]}, "gripper_closure": 0.7797356843948364, "images": ["images/d3e4b2031c2288c8/00293_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00293_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00293_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.01601267233490944, "orientation_residual_rad": 0.026165252694138347, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 293, EEF displacement is 0.46 cm; remaining target position residual is 1.60 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 293, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.004593613187805947, "position_residual_m": 0.01601267233490944, "orientation_residual_rad": 0.026165252694138347}, "provenance": {"observation_step": 290, "target_command_step": 292, "feedback_step": 293, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 50, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 293, "eef_pose": {"position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657], "quaternion_xyzw": [-0.8604274218157085, -0.3902379062036879, -0.28889076165572203, 0.15466465717581132]}, "gripper_closure": 0.7797356843948364, "images": ["images/d3e4b2031c2288c8/00293_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00293_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00293_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3877696394920349, 0.27499648928642273, 0.19013074040412903], "quaternion_xyzw": [-0.8590446162271762, -0.3838110802435216, -0.30306235225034983, 0.1512766097646614]}, "gripper_closure": 0.9352292418479919, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 290, "eef_pose": {"position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848], "quaternion_xyzw": [-0.8600688739554934, -0.3878175016687205, -0.28762530333861996, 0.16477500517896593]}, "gripper_closure": 0.784140944480896, "images": ["images/d3e4b2031c2288c8/00290_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00290_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00290_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.014013736508786678, "orientation_residual_rad": 0.04183900734216849, "gripper_residual": 0.15108829736709595, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3821054995059967, 0.2726362943649292, 0.1908918023109436], "quaternion_xyzw": [-0.8566869530540892, -0.3917265256536842, -0.30033973076911286, 0.14977930326894645]}, "gripper_closure": 0.5297356843948364, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 293, "eef_pose": {"position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657], "quaternion_xyzw": [-0.8604274218157085, -0.3902379062036879, -0.28889076165572203, 0.15466465717581132]}, "gripper_closure": 0.7797356843948364, "images": ["images/d3e4b2031c2288c8/00293_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00293_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00293_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.01601267233490944, "orientation_residual_rad": 0.026165252694138347, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 50, "subgoal": {"id": "sg-011", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.78 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 293, recorded EEF XYZ is (0.395, 0.275, 0.182) m in robot-base coordinates.", "Recorded gripper closure is 0.78 (0 open, 1 closed).", "Since the prior decision observation at frame 290, EEF displacement is 0.46 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.83 cm of EEF translation (−X 5.86 cm, −Y 3.35 cm, +Z 5.69 cm), 9.0° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.05863380432128906, -0.03352732956409454, 0.056852564215660095], "translation_norm_m": 0.08828487353325244, "orientation_delta_rad": 0.1575453037295276, "gripper_from": 0.7797356843948364, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 293, "current_images": ["images/d3e4b2031c2288c8/00293_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00293_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00293_wrist_image_left.jpg"], "current_position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657], "current_quaternion_xyzw": [-0.8604274218157085, -0.3902379062036879, -0.28889076165572203, 0.15466465717581132], "current_gripper_closure": 0.7797356843948364, "previous_observation": {"source_step": 290, "position_m": [0.39960765838623047, 0.27490782737731934, 0.18263152241706848]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 303, "feedback_step": 304}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.336456298828125, 0.24137358367443085, 0.23865166306495667], "quaternion_xyzw": [-0.8479377355595642, -0.379274605638879, -0.35298798271760295, 0.11203505785488936]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 304, "eef_pose": {"position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267], "quaternion_xyzw": [-0.8452572357186133, -0.3985308073716489, -0.33295031970179984, 0.12592650893080204]}, "gripper_closure": 0.004405308980494738, "images": ["images/d3e4b2031c2288c8/00304_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00304_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00304_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.036779578775167465, "orientation_residual_rad": 0.062371325288125765, "gripper_residual": 0.004405308980494738, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 304, EEF displacement is 5.20 cm; remaining target position residual is 3.68 cm and orientation residual is 3.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 304, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.052021943444037454, "position_residual_m": 0.036779578775167465, "orientation_residual_rad": 0.062371325288125765}, "provenance": {"observation_step": 293, "target_command_step": 303, "feedback_step": 304, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 51, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 304, "eef_pose": {"position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267], "quaternion_xyzw": [-0.8452572357186133, -0.3985308073716489, -0.33295031970179984, 0.12592650893080204]}, "gripper_closure": 0.004405308980494738, "images": ["images/d3e4b2031c2288c8/00304_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00304_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00304_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3821054995059967, 0.2726362943649292, 0.1908918023109436], "quaternion_xyzw": [-0.8566869530540892, -0.3917265256536842, -0.30033973076911286, 0.14977930326894645]}, "gripper_closure": 0.5297356843948364, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 293, "eef_pose": {"position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657], "quaternion_xyzw": [-0.8604274218157085, -0.3902379062036879, -0.28889076165572203, 0.15466465717581132]}, "gripper_closure": 0.7797356843948364, "images": ["images/d3e4b2031c2288c8/00293_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00293_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00293_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.01601267233490944, "orientation_residual_rad": 0.026165252694138347, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.336456298828125, 0.24137358367443085, 0.23865166306495667], "quaternion_xyzw": [-0.8479377355595642, -0.379274605638879, -0.35298798271760295, 0.11203505785488936]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 304, "eef_pose": {"position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267], "quaternion_xyzw": [-0.8452572357186133, -0.3985308073716489, -0.33295031970179984, 0.12592650893080204]}, "gripper_closure": 0.004405308980494738, "images": ["images/d3e4b2031c2288c8/00304_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00304_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00304_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.036779578775167465, "orientation_residual_rad": 0.062371325288125765, "gripper_residual": 0.004405308980494738, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 51, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 304, recorded EEF XYZ is (0.360, 0.260, 0.217) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 293, EEF displacement is 5.20 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.18 cm of EEF translation (+X 1.85 cm, −Y 6.93 cm, −Z 0.31 cm), 15.7° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.01853540539741516, -0.06932085752487183, -0.003072097897529602], "translation_norm_m": 0.07182186524117924, "orientation_delta_rad": 0.27340019431754825, "gripper_from": 0.004405308980494738, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 304, "current_images": ["images/d3e4b2031c2288c8/00304_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00304_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00304_wrist_image_left.jpg"], "current_position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267], "current_quaternion_xyzw": [-0.8452572357186133, -0.3985308073716489, -0.33295031970179984, 0.12592650893080204], "current_gripper_closure": 0.004405308980494738, "previous_observation": {"source_step": 293, "position_m": [0.39509010314941406, 0.2749009132385254, 0.18179909884929657]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 312, "feedback_step": 313}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37809038162231445, 0.19025811553001404, 0.2134944498538971], "quaternion_xyzw": [-0.908564257573794, -0.3296782560132767, -0.23836069017852884, 0.09490742199133045]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 313, "eef_pose": {"position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222], "quaternion_xyzw": [-0.8921410999607585, -0.34570493307864003, -0.2750779377620601, 0.09436357963999199]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00313_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00313_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00313_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.026733197271823883, "orientation_residual_rad": 0.08660992018603655, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 313, EEF displacement is 4.69 cm; remaining target position residual is 2.67 cm and orientation residual is 5.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 313, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04692253255089187, "position_residual_m": 0.026733197271823883, "orientation_residual_rad": 0.08660992018603655}, "provenance": {"observation_step": 304, "target_command_step": 312, "feedback_step": 313, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 52, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 313, "eef_pose": {"position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222], "quaternion_xyzw": [-0.8921410999607585, -0.34570493307864003, -0.2750779377620601, 0.09436357963999199]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00313_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00313_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00313_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.336456298828125, 0.24137358367443085, 0.23865166306495667], "quaternion_xyzw": [-0.8479377355595642, -0.379274605638879, -0.35298798271760295, 0.11203505785488936]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 304, "eef_pose": {"position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267], "quaternion_xyzw": [-0.8452572357186133, -0.3985308073716489, -0.33295031970179984, 0.12592650893080204]}, "gripper_closure": 0.004405308980494738, "images": ["images/d3e4b2031c2288c8/00304_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00304_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00304_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.036779578775167465, "orientation_residual_rad": 0.062371325288125765, "gripper_residual": 0.004405308980494738, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37809038162231445, 0.19025811553001404, 0.2134944498538971], "quaternion_xyzw": [-0.908564257573794, -0.3296782560132767, -0.23836069017852884, 0.09490742199133045]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 313, "eef_pose": {"position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222], "quaternion_xyzw": [-0.8921410999607585, -0.34570493307864003, -0.2750779377620601, 0.09436357963999199]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00313_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00313_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00313_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.026733197271823883, "orientation_residual_rad": 0.08660992018603655, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 52, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 313, recorded EEF XYZ is (0.366, 0.214, 0.209) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 304, EEF displacement is 4.69 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.79 cm of EEF translation (+X 3.14 cm, −Y 5.84 cm, −Z 1.48 cm), 15.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.03135412931442261, -0.0584101676940918, -0.01482003927230835], "translation_norm_m": 0.06792983644283432, "orientation_delta_rad": 0.26740879853473254, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 313, "current_images": ["images/d3e4b2031c2288c8/00313_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00313_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00313_wrist_image_left.jpg"], "current_position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222], "current_quaternion_xyzw": [-0.8921410999607585, -0.34570493307864003, -0.2750779377620601, 0.09436357963999199], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 304, "position_m": [0.3595549762248993, 0.25957897305488586, 0.2165665477514267]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 317, "feedback_step": 318}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3977864980697632, 0.15542365610599518, 0.19388477504253387], "quaternion_xyzw": [-0.9391303804845196, -0.29435663065898043, -0.16502921103967735, 0.06444890954636642]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 318, "eef_pose": {"position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115], "quaternion_xyzw": [-0.9260672351188264, -0.315702570932812, -0.19281385317087346, 0.07452637634546563]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00318_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00318_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00318_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.027510223910212517, "orientation_residual_rad": 0.07746028931306484, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 318, EEF displacement is 4.89 cm; remaining target position residual is 2.75 cm and orientation residual is 4.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 318, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.048880957391782436, "position_residual_m": 0.027510223910212517, "orientation_residual_rad": 0.07746028931306484}, "provenance": {"observation_step": 313, "target_command_step": 317, "feedback_step": 318, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 53, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 318, "eef_pose": {"position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115], "quaternion_xyzw": [-0.9260672351188264, -0.315702570932812, -0.19281385317087346, 0.07452637634546563]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00318_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00318_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00318_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37809038162231445, 0.19025811553001404, 0.2134944498538971], "quaternion_xyzw": [-0.908564257573794, -0.3296782560132767, -0.23836069017852884, 0.09490742199133045]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 313, "eef_pose": {"position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222], "quaternion_xyzw": [-0.8921410999607585, -0.34570493307864003, -0.2750779377620601, 0.09436357963999199]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00313_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00313_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00313_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.026733197271823883, "orientation_residual_rad": 0.08660992018603655, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3977864980697632, 0.15542365610599518, 0.19388477504253387], "quaternion_xyzw": [-0.9391303804845196, -0.29435663065898043, -0.16502921103967735, 0.06444890954636642]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 318, "eef_pose": {"position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115], "quaternion_xyzw": [-0.9260672351188264, -0.315702570932812, -0.19281385317087346, 0.07452637634546563]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00318_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00318_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00318_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.027510223910212517, "orientation_residual_rad": 0.07746028931306484, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 53, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 318, recorded EEF XYZ is (0.377, 0.171, 0.187) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 313, EEF displacement is 4.89 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.56 cm of EEF translation (+X 7.82 cm, −Y 3.21 cm, −Z 1.37 cm), 12.8° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.07816466689109802, -0.03209346532821655, -0.013694807887077332], "translation_norm_m": 0.08559937750961574, "orientation_delta_rad": 0.22422936674110208, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 318, "current_images": ["images/d3e4b2031c2288c8/00318_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00318_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00318_wrist_image_left.jpg"], "current_position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115], "current_quaternion_xyzw": [-0.9260672351188264, -0.315702570932812, -0.19281385317087346, 0.07452637634546563], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 313, "position_m": [0.3664323687553406, 0.21383382380008698, 0.20870481431484222]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 323, "feedback_step": 324}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45473867654800415, 0.13929711282253265, 0.17298579216003418], "quaternion_xyzw": [-0.9503372452071922, -0.29453087375568965, -0.08927096906102473, 0.04627503494996594]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 324, "eef_pose": {"position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406], "quaternion_xyzw": [-0.9520250086229799, -0.2812208069593734, -0.11456076288968965, 0.037935106374784894]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00324_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00324_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00324_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.03817388415336609, "orientation_residual_rad": 0.05963892661108841, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 324, EEF displacement is 5.35 cm; remaining target position residual is 3.82 cm and orientation residual is 3.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 324, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05346886059544988, "position_residual_m": 0.03817388415336609, "orientation_residual_rad": 0.05963892661108841}, "provenance": {"observation_step": 318, "target_command_step": 323, "feedback_step": 324, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 54, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 324, "eef_pose": {"position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406], "quaternion_xyzw": [-0.9520250086229799, -0.2812208069593734, -0.11456076288968965, 0.037935106374784894]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00324_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00324_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00324_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3977864980697632, 0.15542365610599518, 0.19388477504253387], "quaternion_xyzw": [-0.9391303804845196, -0.29435663065898043, -0.16502921103967735, 0.06444890954636642]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 318, "eef_pose": {"position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115], "quaternion_xyzw": [-0.9260672351188264, -0.315702570932812, -0.19281385317087346, 0.07452637634546563]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00318_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00318_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00318_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.027510223910212517, "orientation_residual_rad": 0.07746028931306484, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45473867654800415, 0.13929711282253265, 0.17298579216003418], "quaternion_xyzw": [-0.9503372452071922, -0.29453087375568965, -0.08927096906102473, 0.04627503494996594]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 324, "eef_pose": {"position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406], "quaternion_xyzw": [-0.9520250086229799, -0.2812208069593734, -0.11456076288968965, 0.037935106374784894]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00324_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00324_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00324_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.03817388415336609, "orientation_residual_rad": 0.05963892661108841, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 54, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 324, recorded EEF XYZ is (0.417, 0.138, 0.175) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 318, EEF displacement is 5.35 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.27 cm of EEF translation (+X 6.59 cm, +Y 1.65 cm, −Z 2.58 cm), 12.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.06592229008674622, 0.016529947519302368, -0.025825798511505127], "translation_norm_m": 0.07270460345830151, "orientation_delta_rad": 0.2148647662653999, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 324, "current_images": ["images/d3e4b2031c2288c8/00324_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00324_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00324_wrist_image_left.jpg"], "current_position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406], "current_quaternion_xyzw": [-0.9520250086229799, -0.2812208069593734, -0.11456076288968965, 0.037935106374784894], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 318, "position_m": [0.37657400965690613, 0.1713905781507492, 0.1866806000471115]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 330, "feedback_step": 331}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.482586145401001, 0.15440785884857178, 0.14951352775096893], "quaternion_xyzw": [-0.9354777340671215, -0.3398194111050829, -0.04142804810686761, 0.08768063486821763]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 331, "eef_pose": {"position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215], "quaternion_xyzw": [-0.9422828578988268, -0.3230856396245216, -0.05630969744302494, 0.06743814315584222]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00331_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00331_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00331_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01878715306520462, "orientation_residual_rad": 0.06189110418789883, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 331, EEF displacement is 5.43 cm; remaining target position residual is 1.88 cm and orientation residual is 3.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 331, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05434934209499556, "position_residual_m": 0.01878715306520462, "orientation_residual_rad": 0.06189110418789883}, "provenance": {"observation_step": 324, "target_command_step": 330, "feedback_step": 331, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 55, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 331, "eef_pose": {"position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215], "quaternion_xyzw": [-0.9422828578988268, -0.3230856396245216, -0.05630969744302494, 0.06743814315584222]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00331_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00331_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00331_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45473867654800415, 0.13929711282253265, 0.17298579216003418], "quaternion_xyzw": [-0.9503372452071922, -0.29453087375568965, -0.08927096906102473, 0.04627503494996594]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 324, "eef_pose": {"position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406], "quaternion_xyzw": [-0.9520250086229799, -0.2812208069593734, -0.11456076288968965, 0.037935106374784894]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00324_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00324_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00324_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.03817388415336609, "orientation_residual_rad": 0.05963892661108841, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.482586145401001, 0.15440785884857178, 0.14951352775096893], "quaternion_xyzw": [-0.9354777340671215, -0.3398194111050829, -0.04142804810686761, 0.08768063486821763]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 331, "eef_pose": {"position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215], "quaternion_xyzw": [-0.9422828578988268, -0.3230856396245216, -0.05630969744302494, 0.06743814315584222]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00331_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00331_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00331_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01878715306520462, "orientation_residual_rad": 0.06189110418789883, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 55, "subgoal": {"id": "sg-012", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 331, recorded EEF XYZ is (0.464, 0.151, 0.153) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 324, EEF displacement is 5.43 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.45 cm of EEF translation (+X 0.66 cm, −Y 0.96 cm, −Z 6.34 cm), 9.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.006631404161453247, -0.00956416130065918, -0.06343543529510498], "translation_norm_m": 0.06449421023329936, "orientation_delta_rad": 0.16171728744471148, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 331, "current_images": ["images/d3e4b2031c2288c8/00331_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00331_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00331_wrist_image_left.jpg"], "current_position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215], "current_quaternion_xyzw": [-0.9422828578988268, -0.3230856396245216, -0.05630969744302494, 0.06743814315584222], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 324, "position_m": [0.41666385531425476, 0.1378779113292694, 0.17533932626247406]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 342, "feedback_step": 343}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47107914090156555, 0.14140690863132477, 0.08956287801265717], "quaternion_xyzw": [-0.9486502392714878, -0.2923079672180259, -0.004384662549123572, 0.1208285999477972]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 343, "eef_pose": {"position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938], "quaternion_xyzw": [-0.9445494408216736, -0.3067575793354633, -0.002795975397331576, 0.11712524870961095]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00343_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00343_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00343_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.012992839328944683, "orientation_residual_rad": 0.031103147740020952, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 343, EEF displacement is 5.20 cm; remaining target position residual is 1.30 cm and orientation residual is 1.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 343, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05195012388204529, "position_residual_m": 0.012992839328944683, "orientation_residual_rad": 0.031103147740020952}, "provenance": {"observation_step": 331, "target_command_step": 342, "feedback_step": 343, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 56, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 343, "eef_pose": {"position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938], "quaternion_xyzw": [-0.9445494408216736, -0.3067575793354633, -0.002795975397331576, 0.11712524870961095]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00343_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00343_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00343_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.482586145401001, 0.15440785884857178, 0.14951352775096893], "quaternion_xyzw": [-0.9354777340671215, -0.3398194111050829, -0.04142804810686761, 0.08768063486821763]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 331, "eef_pose": {"position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215], "quaternion_xyzw": [-0.9422828578988268, -0.3230856396245216, -0.05630969744302494, 0.06743814315584222]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00331_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00331_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00331_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01878715306520462, "orientation_residual_rad": 0.06189110418789883, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47107914090156555, 0.14140690863132477, 0.08956287801265717], "quaternion_xyzw": [-0.9486502392714878, -0.2923079672180259, -0.004384662549123572, 0.1208285999477972]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 343, "eef_pose": {"position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938], "quaternion_xyzw": [-0.9445494408216736, -0.3067575793354633, -0.002795975397331576, 0.11712524870961095]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00343_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00343_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00343_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.012992839328944683, "orientation_residual_rad": 0.031103147740020952, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 56, "subgoal": {"id": "sg-013", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.46 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 343, recorded EEF XYZ is (0.467, 0.145, 0.101) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 331, EEF displacement is 5.20 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.18 cm of EEF translation (+X 1.42 cm, −Y 0.80 cm, −Z 3.85 cm), 11.5° orientation change, and gripper closure 0.46.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.014224022626876831, -0.007971972227096558, -0.038489870727062225], "translation_norm_m": 0.04180125966362096, "orientation_delta_rad": 0.20057574460582042, "gripper_from": 0.0, "gripper_target": 0.46145379543304443, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 343, "current_images": ["images/d3e4b2031c2288c8/00343_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00343_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00343_wrist_image_left.jpg"], "current_position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938], "current_quaternion_xyzw": [-0.9445494408216736, -0.3067575793354633, -0.002795975397331576, 0.11712524870961095], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 331, "position_m": [0.4644477367401123, 0.15097106993198395, 0.15299831330776215]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 356, "feedback_step": 357}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.48171067237854004, 0.1372273564338684, 0.06296945363283157], "quaternion_xyzw": [-0.9704144473782653, -0.23516599457771434, 0.011504542204933592, 0.05348271517476801]}, "gripper_closure": 0.46145379543304443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 357, "eef_pose": {"position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448], "quaternion_xyzw": [-0.9676246003637877, -0.2440304812136257, 0.009928898142093284, 0.06366454265248567]}, "gripper_closure": 0.21145378053188324, "images": ["images/d3e4b2031c2288c8/00357_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00357_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00357_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.012285400182008743, "orientation_residual_rad": 0.027750151224875938, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 357, EEF displacement is 3.25 cm; remaining target position residual is 1.23 cm and orientation residual is 1.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 357, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03252441257939896, "position_residual_m": 0.012285400182008743, "orientation_residual_rad": 0.027750151224875938}, "provenance": {"observation_step": 343, "target_command_step": 356, "feedback_step": 357, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 57, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 357, "eef_pose": {"position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448], "quaternion_xyzw": [-0.9676246003637877, -0.2440304812136257, 0.009928898142093284, 0.06366454265248567]}, "gripper_closure": 0.21145378053188324, "images": ["images/d3e4b2031c2288c8/00357_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00357_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00357_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47107914090156555, 0.14140690863132477, 0.08956287801265717], "quaternion_xyzw": [-0.9486502392714878, -0.2923079672180259, -0.004384662549123572, 0.1208285999477972]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 343, "eef_pose": {"position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938], "quaternion_xyzw": [-0.9445494408216736, -0.3067575793354633, -0.002795975397331576, 0.11712524870961095]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00343_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00343_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00343_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.012992839328944683, "orientation_residual_rad": 0.031103147740020952, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.48171067237854004, 0.1372273564338684, 0.06296945363283157], "quaternion_xyzw": [-0.9704144473782653, -0.23516599457771434, 0.011504542204933592, 0.05348271517476801]}, "gripper_closure": 0.46145379543304443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 357, "eef_pose": {"position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448], "quaternion_xyzw": [-0.9676246003637877, -0.2440304812136257, 0.009928898142093284, 0.06366454265248567]}, "gripper_closure": 0.21145378053188324, "images": ["images/d3e4b2031c2288c8/00357_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00357_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00357_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.012285400182008743, "orientation_residual_rad": 0.027750151224875938, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 57, "subgoal": {"id": "sg-013", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.21 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 357, recorded EEF XYZ is (0.476, 0.133, 0.073) m in robot-base coordinates.", "Recorded gripper closure is 0.21 (0 open, 1 closed).", "Since the prior decision observation at frame 343, EEF displacement is 3.25 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.91 cm of EEF translation (−X 2.15 cm, −Y 3.53 cm, +Z 6.75 cm), 18.1° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.021453440189361572, -0.035257622599601746, 0.06752419471740723], "translation_norm_m": 0.07913827720874891, "orientation_delta_rad": 0.31568741761046254, "gripper_from": 0.21145378053188324, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 357, "current_images": ["images/d3e4b2031c2288c8/00357_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00357_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00357_wrist_image_left.jpg"], "current_position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448], "current_quaternion_xyzw": [-0.9676246003637877, -0.2440304812136257, 0.009928898142093284, 0.06366454265248567], "current_gripper_closure": 0.21145378053188324, "previous_observation": {"source_step": 343, "position_m": [0.4674866497516632, 0.14519932866096497, 0.1014593243598938]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 367, "feedback_step": 368}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4540928602218628, 0.09738810360431671, 0.1400821954011917], "quaternion_xyzw": [0.9893552295013421, 0.134456489250094, 0.04453470010347493, 0.033381774122709276]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 368, "eef_pose": {"position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957], "quaternion_xyzw": [-0.9854508804932774, -0.16898346829488817, -0.015676688658567205, 0.009240725661833846]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00368_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00368_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00368_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05151420459151268, "orientation_residual_rad": 0.124226547257063, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 368, EEF displacement is 3.32 cm; remaining target position residual is 5.15 cm and orientation residual is 7.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 368, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.033186547211609116, "position_residual_m": 0.05151420459151268, "orientation_residual_rad": 0.124226547257063}, "provenance": {"observation_step": 357, "target_command_step": 367, "feedback_step": 368, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 58, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 368, "eef_pose": {"position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957], "quaternion_xyzw": [-0.9854508804932774, -0.16898346829488817, -0.015676688658567205, 0.009240725661833846]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00368_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00368_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00368_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.48171067237854004, 0.1372273564338684, 0.06296945363283157], "quaternion_xyzw": [-0.9704144473782653, -0.23516599457771434, 0.011504542204933592, 0.05348271517476801]}, "gripper_closure": 0.46145379543304443, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 357, "eef_pose": {"position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448], "quaternion_xyzw": [-0.9676246003637877, -0.2440304812136257, 0.009928898142093284, 0.06366454265248567]}, "gripper_closure": 0.21145378053188324, "images": ["images/d3e4b2031c2288c8/00357_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00357_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00357_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.012285400182008743, "orientation_residual_rad": 0.027750151224875938, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4540928602218628, 0.09738810360431671, 0.1400821954011917], "quaternion_xyzw": [0.9893552295013421, 0.134456489250094, 0.04453470010347493, 0.033381774122709276]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 368, "eef_pose": {"position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957], "quaternion_xyzw": [-0.9854508804932774, -0.16898346829488817, -0.015676688658567205, 0.009240725661833846]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00368_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00368_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00368_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05151420459151268, "orientation_residual_rad": 0.124226547257063, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 58, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 368, recorded EEF XYZ is (0.477, 0.109, 0.096) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 357, EEF displacement is 3.32 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.63 cm of EEF translation (−X 3.29 cm, −Y 3.52 cm, +Z 10.58 cm), 16.1° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.03291386365890503, -0.03517700731754303, 0.10580472648143768], "translation_norm_m": 0.11625568549790288, "orientation_delta_rad": 0.28135954451999284, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 368, "current_images": ["images/d3e4b2031c2288c8/00368_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00368_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00368_wrist_image_left.jpg"], "current_position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957], "current_quaternion_xyzw": [-0.9854508804932774, -0.16898346829488817, -0.015676688658567205, 0.009240725661833846], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 357, "position_m": [0.47554630041122437, 0.13264572620391846, 0.07255800068378448]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 371, "feedback_step": 372}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44444042444229126, 0.07361043244600296, 0.20135968923568726], "quaternion_xyzw": [0.9905243071227753, 0.07971917327114363, 0.08018311622758312, 0.07795587395408649]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 372, "eef_pose": {"position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914], "quaternion_xyzw": [0.9909593616759429, 0.11748958571581808, 0.050021165561320094, 0.04115366023843388]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00372_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00372_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00372_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06259004771709442, "orientation_residual_rad": 0.12152490021349745, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 372, EEF displacement is 5.68 cm; remaining target position residual is 6.26 cm and orientation residual is 7.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 372, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05678671636791656, "position_residual_m": 0.06259004771709442, "orientation_residual_rad": 0.12152490021349745}, "provenance": {"observation_step": 368, "target_command_step": 371, "feedback_step": 372, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 59, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 372, "eef_pose": {"position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914], "quaternion_xyzw": [0.9909593616759429, 0.11748958571581808, 0.050021165561320094, 0.04115366023843388]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00372_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00372_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00372_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4540928602218628, 0.09738810360431671, 0.1400821954011917], "quaternion_xyzw": [0.9893552295013421, 0.134456489250094, 0.04453470010347493, 0.033381774122709276]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 368, "eef_pose": {"position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957], "quaternion_xyzw": [-0.9854508804932774, -0.16898346829488817, -0.015676688658567205, 0.009240725661833846]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00368_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00368_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00368_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.05151420459151268, "orientation_residual_rad": 0.124226547257063, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44444042444229126, 0.07361043244600296, 0.20135968923568726], "quaternion_xyzw": [0.9905243071227753, 0.07971917327114363, 0.08018311622758312, 0.07795587395408649]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 372, "eef_pose": {"position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914], "quaternion_xyzw": [0.9909593616759429, 0.11748958571581808, 0.050021165561320094, 0.04115366023843388]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00372_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00372_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00372_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06259004771709442, "orientation_residual_rad": 0.12152490021349745, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 59, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 372, recorded EEF XYZ is (0.468, 0.080, 0.144) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 368, EEF displacement is 5.68 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.00 cm of EEF translation (−X 2.41 cm, −Y 2.37 cm, +Z 11.52 cm), 18.2° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.02405494451522827, -0.023708287626504898, 0.11518076062202454], "translation_norm_m": 0.1200305414270881, "orientation_delta_rad": 0.3168119180825699, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 372, "current_images": ["images/d3e4b2031c2288c8/00372_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00372_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00372_wrist_image_left.jpg"], "current_position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914], "current_quaternion_xyzw": [0.9909593616759429, 0.11748958571581808, 0.050021165561320094, 0.04115366023843388], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 368, "position_m": [0.4773542881011963, 0.10878743976354599, 0.09555496275424957]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 375, "feedback_step": 376}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44395387172698975, 0.05655302479863167, 0.2589400112628937], "quaternion_xyzw": [0.9858127832475619, -0.0020231882727226314, 0.11832402846959449, 0.1190314554293749]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 376, "eef_pose": {"position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102], "quaternion_xyzw": [0.9899418309697805, 0.06048946221945483, 0.09455318284607998, 0.08611557275124714]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00376_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00376_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.059306275099515915, "orientation_residual_rad": 0.1493449620371842, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 376, EEF displacement is 6.45 cm; remaining target position residual is 5.93 cm and orientation residual is 8.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 376, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06452177463843253, "position_residual_m": 0.059306275099515915, "orientation_residual_rad": 0.1493449620371842}, "provenance": {"observation_step": 372, "target_command_step": 375, "feedback_step": 376, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 60, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 376, "eef_pose": {"position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102], "quaternion_xyzw": [0.9899418309697805, 0.06048946221945483, 0.09455318284607998, 0.08611557275124714]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00376_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00376_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44444042444229126, 0.07361043244600296, 0.20135968923568726], "quaternion_xyzw": [0.9905243071227753, 0.07971917327114363, 0.08018311622758312, 0.07795587395408649]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 372, "eef_pose": {"position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914], "quaternion_xyzw": [0.9909593616759429, 0.11748958571581808, 0.050021165561320094, 0.04115366023843388]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00372_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00372_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00372_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06259004771709442, "orientation_residual_rad": 0.12152490021349745, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44395387172698975, 0.05655302479863167, 0.2589400112628937], "quaternion_xyzw": [0.9858127832475619, -0.0020231882727226314, 0.11832402846959449, 0.1190314554293749]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 376, "eef_pose": {"position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102], "quaternion_xyzw": [0.9899418309697805, 0.06048946221945483, 0.09455318284607998, 0.08611557275124714]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00376_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00376_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.059306275099515915, "orientation_residual_rad": 0.1493449620371842, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 60, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 376, recorded EEF XYZ is (0.465, 0.056, 0.204) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 372, EEF displacement is 6.45 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.11 cm of EEF translation (−X 0.08 cm, −Y 0.72 cm, +Z 9.08 cm), 21.0° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.0007751584053039551, -0.0071932002902030945, 0.09078432619571686], "translation_norm_m": 0.09107215207613474, "orientation_delta_rad": 0.36586291673231824, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 376, "current_images": ["images/d3e4b2031c2288c8/00376_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00376_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00376_wrist_image_left.jpg"], "current_position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102], "current_quaternion_xyzw": [0.9899418309697805, 0.06048946221945483, 0.09455318284607998, 0.08611557275124714], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 372, "position_m": [0.468008816242218, 0.08026131242513657, 0.14375925064086914]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 379, "feedback_step": 380}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46460530161857605, 0.04918377846479416, 0.2944242060184479], "quaternion_xyzw": [0.9715397190413609, -0.09552805596033752, 0.13336782483446394, 0.1708741880694557]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 380, "eef_pose": {"position_m": [0.4759739637374878, 0.032600484788417816, 0.2570963501930237], "quaternion_xyzw": [0.9830156367629438, -0.033632421255029965, 0.12108916925886455, 0.1337405368923965]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00380_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00380_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00380_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0423983596265316, "orientation_residual_rad": 0.1482559336562268, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 380, EEF displacement is 5.95 cm; remaining target position residual is 4.24 cm and orientation residual is 8.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 380, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05945702827019685, "position_residual_m": 0.0423983596265316, "orientation_residual_rad": 0.1482559336562268}, "provenance": {"observation_step": 376, "target_command_step": 379, "feedback_step": 380, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 61, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 380, "eef_pose": {"position_m": [0.4759739637374878, 0.032600484788417816, 0.2570963501930237], "quaternion_xyzw": [0.9830156367629438, -0.033632421255029965, 0.12108916925886455, 0.1337405368923965]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00380_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00380_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00380_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44395387172698975, 0.05655302479863167, 0.2589400112628937], "quaternion_xyzw": [0.9858127832475619, -0.0020231882727226314, 0.11832402846959449, 0.1190314554293749]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 376, "eef_pose": {"position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102], "quaternion_xyzw": [0.9899418309697805, 0.06048946221945483, 0.09455318284607998, 0.08611557275124714]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00376_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00376_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00376_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.059306275099515915, "orientation_residual_rad": 0.1493449620371842, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46460530161857605, 0.04918377846479416, 0.2944242060184479], "quaternion_xyzw": [0.9715397190413609, -0.09552805596033752, 0.13336782483446394, 0.1708741880694557]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 380, "eef_pose": {"position_m": [0.4759739637374878, 0.032600484788417816, 0.2570963501930237], "quaternion_xyzw": [0.9830156367629438, -0.033632421255029965, 0.12108916925886455, 0.1337405368923965]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00380_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00380_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00380_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0423983596265316, "orientation_residual_rad": 0.1482559336562268, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 61, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 380, recorded EEF XYZ is (0.476, 0.033, 0.257) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 376, EEF displacement is 5.95 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.91 cm of EEF translation (−X 0.59 cm, +Y 2.61 cm, +Z 6.37 cm), 17.1° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.005948752164840698, 0.026122350245714188, 0.06371203064918518], "translation_norm_m": 0.06911575568653773, "orientation_delta_rad": 0.2982441066657149, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 380, "current_images": ["images/d3e4b2031c2288c8/00380_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00380_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00380_wrist_image_left.jpg"], "current_position_m": [0.4759739637374878, 0.032600484788417816, 0.2570963501930237], "current_quaternion_xyzw": [0.9830156367629438, -0.033632421255029965, 0.12108916925886455, 0.1337405368923965], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 376, "position_m": [0.46538046002388, 0.05637697875499725, 0.20363987982273102]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 383, "feedback_step": 384}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4700252115726471, 0.058722835034132004, 0.32080838084220886], "quaternion_xyzw": [0.9526060092740283, -0.1539590242956235, 0.16816240574928198, 0.20139467526616306]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 384, "eef_pose": {"position_m": [0.48765695095062256, 0.03986654430627823, 0.29301950335502625], "quaternion_xyzw": [0.9646306110025856, -0.11877409327576073, 0.140674788610433, 0.18865604398669328]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00384_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00384_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00384_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03792966529726982, "orientation_residual_rad": 0.09593442275083076, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 384, EEF displacement is 3.85 cm; remaining target position residual is 3.79 cm and orientation residual is 5.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 384, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03846765841898952, "position_residual_m": 0.03792966529726982, "orientation_residual_rad": 0.09593442275083076}, "provenance": {"observation_step": 380, "target_command_step": 383, "feedback_step": 384, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 384, recorded EEF XYZ is (0.488, 0.040, 0.293) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 380, EEF displacement is 3.85 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.81 cm of EEF translation (−X 4.00 cm, +Y 5.05 cm, +Z 6.02 cm), 11.1° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.03996625542640686, 0.05050407350063324, 0.060177773237228394], "translation_norm_m": 0.08814378823693388, "orientation_delta_rad": 0.19367138674187215, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 384, "current_images": ["images/d3e4b2031c2288c8/00384_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00384_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00384_wrist_image_left.jpg"], "current_position_m": [0.48765695095062256, 0.03986654430627823, 0.29301950335502625], "current_quaternion_xyzw": [0.9646306110025856, -0.11877409327576073, 0.140674788610433, 0.18865604398669328], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 380, "position_m": [0.4759739637374878, 0.032600484788417816, 0.2570963501930237]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 387, "feedback_step": 388}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4476906955242157, 0.09037061780691147, 0.35319727659225464], "quaternion_xyzw": [0.943363065292481, -0.15558541531894515, 0.22754324715642346, 0.18461683632734102]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 388, "eef_pose": {"position_m": [0.475193053483963, 0.07858745753765106, 0.32264310121536255], "quaternion_xyzw": [0.9495445727309114, -0.14707876501098588, 0.1913574381582115, 0.20028797303293122]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00388_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00388_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00388_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04276423901319504, "orientation_residual_rad": 0.08162849161600427, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 388, EEF displacement is 5.03 cm; remaining target position residual is 4.28 cm and orientation residual is 4.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 388, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05032112291793405, "position_residual_m": 0.04276423901319504, "orientation_residual_rad": 0.08162849161600427}, "provenance": {"observation_step": 384, "target_command_step": 387, "feedback_step": 388, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 63, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 388, "eef_pose": {"position_m": [0.475193053483963, 0.07858745753765106, 0.32264310121536255], "quaternion_xyzw": [0.9495445727309114, -0.14707876501098588, 0.1913574381582115, 0.20028797303293122]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00388_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00388_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00388_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4700252115726471, 0.058722835034132004, 0.32080838084220886], "quaternion_xyzw": [0.9526060092740283, -0.1539590242956235, 0.16816240574928198, 0.20139467526616306]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 384, "eef_pose": {"position_m": [0.48765695095062256, 0.03986654430627823, 0.29301950335502625], "quaternion_xyzw": [0.9646306110025856, -0.11877409327576073, 0.140674788610433, 0.18865604398669328]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00384_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00384_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00384_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03792966529726982, "orientation_residual_rad": 0.09593442275083076, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4476906955242157, 0.09037061780691147, 0.35319727659225464], "quaternion_xyzw": [0.943363065292481, -0.15558541531894515, 0.22754324715642346, 0.18461683632734102]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 388, "eef_pose": {"position_m": [0.475193053483963, 0.07858745753765106, 0.32264310121536255], "quaternion_xyzw": [0.9495445727309114, -0.14707876501098588, 0.1913574381582115, 0.20028797303293122]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00388_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00388_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00388_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.04276423901319504, "orientation_residual_rad": 0.08162849161600427, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 63, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 65, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 400, "eef_pose": {"position_m": [0.46691834926605225, 0.08915440738201141, 0.420174777507782], "quaternion_xyzw": [0.9337992037827973, -0.1165876644983815, 0.29900361939716724, 0.15818722795731732]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00400_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00400_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00400_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4520288109779358, 0.09376432746648788, 0.39818620681762695], "quaternion_xyzw": [0.9380126013915313, -0.1373948472133658, 0.2699102339208582, 0.168533323751404]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 393, "eef_pose": {"position_m": [0.4565751850605011, 0.09939989447593689, 0.3684329390525818], "quaternion_xyzw": [0.9410738067259671, -0.14638266917808304, 0.24453040578325153, 0.18209087046328037]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00393_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00393_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00393_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.030621660873293877, "orientation_residual_rad": 0.06060247258959992, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47997432947158813, 0.08411267399787903, 0.44596046209335327], "quaternion_xyzw": [0.9337289786793589, -0.09494565069714621, 0.31631338688279853, 0.138135292618612]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 400, "eef_pose": {"position_m": [0.46691834926605225, 0.08915440738201141, 0.420174777507782], "quaternion_xyzw": [0.9337992037827973, -0.1165876644983815, 0.29900361939716724, 0.15818722795731732]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00400_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00400_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00400_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02933903969824314, "orientation_residual_rad": 0.06841648820270255, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 65, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 400, recorded EEF XYZ is (0.467, 0.089, 0.420) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 393, EEF displacement is 5.38 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.89 cm of EEF translation (+X 7.45 cm, +Y 0.47 cm, +Z 6.49 cm), 9.5° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.07452577352523804, 0.004746586084365845, 0.06491521000862122], "translation_norm_m": 0.09894748854546416, "orientation_delta_rad": 0.16589413676068587, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 400, "current_images": ["images/d3e4b2031c2288c8/00400_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00400_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00400_wrist_image_left.jpg"], "current_position_m": [0.46691834926605225, 0.08915440738201141, 0.420174777507782], "current_quaternion_xyzw": [0.9337992037827973, -0.1165876644983815, 0.29900361939716724, 0.15818722795731732], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 393, "position_m": [0.4565751850605011, 0.09939989447593689, 0.3684329390525818]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 406, "feedback_step": 407}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5414441227912903, 0.09390099346637726, 0.4850899875164032], "quaternion_xyzw": [0.9378429959372523, -0.059969629022025364, 0.3256574823503524, 0.10392960480839537]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 407, "eef_pose": {"position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367], "quaternion_xyzw": [0.9380889216831014, -0.0717412838391241, 0.31738001923725717, 0.11879514551322536]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00407_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00407_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00407_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.050423577427864075, "orientation_residual_rad": 0.04138348986431614, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 407, EEF displacement is 5.08 cm; remaining target position residual is 5.04 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 407, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05082080790242802, "position_residual_m": 0.050423577427864075, "orientation_residual_rad": 0.04138348986431614}, "provenance": {"observation_step": 400, "target_command_step": 406, "feedback_step": 407, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 66, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 407, "eef_pose": {"position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367], "quaternion_xyzw": [0.9380889216831014, -0.0717412838391241, 0.31738001923725717, 0.11879514551322536]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00407_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00407_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00407_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47997432947158813, 0.08411267399787903, 0.44596046209335327], "quaternion_xyzw": [0.9337289786793589, -0.09494565069714621, 0.31631338688279853, 0.138135292618612]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 400, "eef_pose": {"position_m": [0.46691834926605225, 0.08915440738201141, 0.420174777507782], "quaternion_xyzw": [0.9337992037827973, -0.1165876644983815, 0.29900361939716724, 0.15818722795731732]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00400_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00400_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00400_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02933903969824314, "orientation_residual_rad": 0.06841648820270255, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5414441227912903, 0.09390099346637726, 0.4850899875164032], "quaternion_xyzw": [0.9378429959372523, -0.059969629022025364, 0.3256574823503524, 0.10392960480839537]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 407, "eef_pose": {"position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367], "quaternion_xyzw": [0.9380889216831014, -0.0717412838391241, 0.31738001923725717, 0.11879514551322536]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00407_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00407_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00407_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.050423577427864075, "orientation_residual_rad": 0.04138348986431614, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 66, "subgoal": {"id": "sg-014", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 407, recorded EEF XYZ is (0.501, 0.083, 0.458) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 400, EEF displacement is 5.08 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.53 cm of EEF translation (+X 7.97 cm, +Y 3.18 cm, +Z 6.11 cm), 6.4° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.07967758178710938, 0.03175868093967438, 0.061132073402404785], "translation_norm_m": 0.10532929911922204, "orientation_delta_rad": 0.11237345456834363, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 407, "current_images": ["images/d3e4b2031c2288c8/00407_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00407_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00407_wrist_image_left.jpg"], "current_position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367], "current_quaternion_xyzw": [0.9380889216831014, -0.0717412838391241, 0.31738001923725717, 0.11879514551322536], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 400, "position_m": [0.46691834926605225, 0.08915440738201141, 0.420174777507782]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 411, "feedback_step": 412}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5802804827690125, 0.11453377455472946, 0.5188223123550415], "quaternion_xyzw": [0.9356076118191857, -0.046740962197614505, 0.34182548114751043, 0.07489338820692992]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 412, "eef_pose": {"position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658], "quaternion_xyzw": [0.9373200536344962, -0.06125516289701308, 0.33178586456297865, 0.08716112751268436]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00412_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00412_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00412_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04778743535280228, "orientation_residual_rad": 0.04312325677725256, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 412, EEF displacement is 5.78 cm; remaining target position residual is 4.78 cm and orientation residual is 2.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 412, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.057800844428660916, "position_residual_m": 0.04778743535280228, "orientation_residual_rad": 0.04312325677725256}, "provenance": {"observation_step": 407, "target_command_step": 411, "feedback_step": 412, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 67, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 412, "eef_pose": {"position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658], "quaternion_xyzw": [0.9373200536344962, -0.06125516289701308, 0.33178586456297865, 0.08716112751268436]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00412_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00412_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00412_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5414441227912903, 0.09390099346637726, 0.4850899875164032], "quaternion_xyzw": [0.9378429959372523, -0.059969629022025364, 0.3256574823503524, 0.10392960480839537]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 407, "eef_pose": {"position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367], "quaternion_xyzw": [0.9380889216831014, -0.0717412838391241, 0.31738001923725717, 0.11879514551322536]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00407_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00407_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00407_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.050423577427864075, "orientation_residual_rad": 0.04138348986431614, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5802804827690125, 0.11453377455472946, 0.5188223123550415], "quaternion_xyzw": [0.9356076118191857, -0.046740962197614505, 0.34182548114751043, 0.07489338820692992]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 412, "eef_pose": {"position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658], "quaternion_xyzw": [0.9373200536344962, -0.06125516289701308, 0.33178586456297865, 0.08716112751268436]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00412_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00412_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00412_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04778743535280228, "orientation_residual_rad": 0.04312325677725256, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 67, "subgoal": {"id": "sg-015", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 412, recorded EEF XYZ is (0.544, 0.104, 0.490) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 407, EEF displacement is 5.78 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.97 cm of EEF translation (+X 8.69 cm, +Y 3.49 cm, +Z 3.43 cm), 6.2° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.08685553073883057, 0.03487326204776764, 0.03425297141075134], "translation_norm_m": 0.09966591030157684, "orientation_delta_rad": 0.10751991717495311, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 412, "current_images": ["images/d3e4b2031c2288c8/00412_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00412_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00412_wrist_image_left.jpg"], "current_position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658], "current_quaternion_xyzw": [0.9373200536344962, -0.06125516289701308, 0.33178586456297865, 0.08716112751268436], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 407, "position_m": [0.5006029009819031, 0.08277509361505508, 0.4576902389526367]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 417, "feedback_step": 418}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6306310892105103, 0.13849124312400818, 0.5242330431938171], "quaternion_xyzw": [0.941578217579446, -0.010908110036601673, 0.3294776178215104, 0.06896356045046738]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 418, "eef_pose": {"position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983], "quaternion_xyzw": [0.9376553980413801, -0.029791894211307374, 0.33907278143408964, 0.07031675798636887]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00418_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00418_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00418_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04416072741150856, "orientation_residual_rad": 0.0431695362341077, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 418, EEF displacement is 5.66 cm; remaining target position residual is 4.42 cm and orientation residual is 2.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 418, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05664805193272612, "position_residual_m": 0.04416072741150856, "orientation_residual_rad": 0.0431695362341077}, "provenance": {"observation_step": 412, "target_command_step": 417, "feedback_step": 418, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 68, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 418, "eef_pose": {"position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983], "quaternion_xyzw": [0.9376553980413801, -0.029791894211307374, 0.33907278143408964, 0.07031675798636887]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00418_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00418_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00418_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5802804827690125, 0.11453377455472946, 0.5188223123550415], "quaternion_xyzw": [0.9356076118191857, -0.046740962197614505, 0.34182548114751043, 0.07489338820692992]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 412, "eef_pose": {"position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658], "quaternion_xyzw": [0.9373200536344962, -0.06125516289701308, 0.33178586456297865, 0.08716112751268436]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00412_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00412_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00412_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.04778743535280228, "orientation_residual_rad": 0.04312325677725256, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6306310892105103, 0.13849124312400818, 0.5242330431938171], "quaternion_xyzw": [0.941578217579446, -0.010908110036601673, 0.3294776178215104, 0.06896356045046738]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 418, "eef_pose": {"position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983], "quaternion_xyzw": [0.9376553980413801, -0.029791894211307374, 0.33907278143408964, 0.07031675798636887]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00418_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00418_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00418_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04416072741150856, "orientation_residual_rad": 0.0431695362341077, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 68, "subgoal": {"id": "sg-015", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 418, recorded EEF XYZ is (0.589, 0.127, 0.515) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 412, EEF displacement is 5.66 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.22 cm of EEF translation (+X 9.72 cm, +Y 2.90 cm, −Z 1.27 cm), 9.2° orientation change, and gripper closure 0.97.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0971677303314209, 0.02899797260761261, -0.012662529945373535], "translation_norm_m": 0.10218996965323487, "orientation_delta_rad": 0.16032877285477665, "gripper_from": 0.8942731022834778, "gripper_target": 0.9735682606697083, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 418, "current_images": ["images/d3e4b2031c2288c8/00418_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00418_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00418_wrist_image_left.jpg"], "current_position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983], "current_quaternion_xyzw": [0.9376553980413801, -0.029791894211307374, 0.33907278143408964, 0.07031675798636887], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 412, "position_m": [0.5437755584716797, 0.10361798107624054, 0.4899800717830658]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 422, "feedback_step": 423}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6863027215003967, 0.1555093377828598, 0.5023658275604248], "quaternion_xyzw": [0.9568969875743889, 0.022634270448360604, 0.28168720628993826, 0.06699375183477892]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 423, "eef_pose": {"position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864], "quaternion_xyzw": [0.9510543494169211, 0.0016935711404742794, 0.3011055215443001, 0.06948540254962976]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00423_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00423_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00423_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05407216027379036, "orientation_residual_rad": 0.058514601831014236, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 423, EEF displacement is 5.11 cm; remaining target position residual is 5.41 cm and orientation residual is 3.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 423, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05108930329456782, "position_residual_m": 0.05407216027379036, "orientation_residual_rad": 0.058514601831014236}, "provenance": {"observation_step": 418, "target_command_step": 422, "feedback_step": 423, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 69, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 423, "eef_pose": {"position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864], "quaternion_xyzw": [0.9510543494169211, 0.0016935711404742794, 0.3011055215443001, 0.06948540254962976]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00423_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00423_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00423_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6306310892105103, 0.13849124312400818, 0.5242330431938171], "quaternion_xyzw": [0.941578217579446, -0.010908110036601673, 0.3294776178215104, 0.06896356045046738]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 418, "eef_pose": {"position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983], "quaternion_xyzw": [0.9376553980413801, -0.029791894211307374, 0.33907278143408964, 0.07031675798636887]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00418_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00418_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00418_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.04416072741150856, "orientation_residual_rad": 0.0431695362341077, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6863027215003967, 0.1555093377828598, 0.5023658275604248], "quaternion_xyzw": [0.9568969875743889, 0.022634270448360604, 0.28168720628993826, 0.06699375183477892]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 423, "eef_pose": {"position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864], "quaternion_xyzw": [0.9510543494169211, 0.0016935711404742794, 0.3011055215443001, 0.06948540254962976]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00423_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00423_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00423_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05407216027379036, "orientation_residual_rad": 0.058514601831014236, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 69, "subgoal": {"id": "sg-016", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.89 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.64 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 423, recorded EEF XYZ is (0.634, 0.142, 0.497) m in robot-base coordinates.", "Recorded gripper closure is 0.89 (0 open, 1 closed).", "Since the prior decision observation at frame 418, EEF displacement is 5.11 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.81 cm of EEF translation (+X 8.35 cm, +Y 2.18 cm, −Z 1.76 cm), 9.1° orientation change, and gripper closure 0.64.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.08350461721420288, 0.021789848804473877, -0.01763707399368286], "translation_norm_m": 0.08808453318302269, "orientation_delta_rad": 0.1593414295277338, "gripper_from": 0.8942731022834778, "gripper_target": 0.6354625821113586, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 423, "current_images": ["images/d3e4b2031c2288c8/00423_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00423_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00423_wrist_image_left.jpg"], "current_position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864], "current_quaternion_xyzw": [0.9510543494169211, 0.0016935711404742794, 0.3011055215443001, 0.06948540254962976], "current_gripper_closure": 0.8942731022834778, "previous_observation": {"source_step": 418, "position_m": [0.5891349911689758, 0.1265113651752472, 0.5150283575057983]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 427, "feedback_step": 428}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7178429365158081, 0.1634722203016281, 0.4790441691875458], "quaternion_xyzw": [0.9677204485727307, 0.04821578502480788, 0.23884956245160902, 0.06436814433638072]}, "gripper_closure": 0.6354625821113586, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 428, "eef_pose": {"position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973], "quaternion_xyzw": [0.9648468916916665, 0.03254464672729531, 0.2524710340457795, 0.06534293022340068]}, "gripper_closure": 0.8766520023345947, "images": ["images/d3e4b2031c2288c8/00428_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00428_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00428_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03895055875182152, "orientation_residual_rad": 0.041969167710611155, "gripper_residual": 0.24118942022323608, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 428, EEF displacement is 5.44 cm; remaining target position residual is 3.90 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 428, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05443502568525046, "position_residual_m": 0.03895055875182152, "orientation_residual_rad": 0.041969167710611155}, "provenance": {"observation_step": 423, "target_command_step": 427, "feedback_step": 428, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 70, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 428, "eef_pose": {"position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973], "quaternion_xyzw": [0.9648468916916665, 0.03254464672729531, 0.2524710340457795, 0.06534293022340068]}, "gripper_closure": 0.8766520023345947, "images": ["images/d3e4b2031c2288c8/00428_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00428_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00428_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6863027215003967, 0.1555093377828598, 0.5023658275604248], "quaternion_xyzw": [0.9568969875743889, 0.022634270448360604, 0.28168720628993826, 0.06699375183477892]}, "gripper_closure": 0.9735682606697083, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 423, "eef_pose": {"position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864], "quaternion_xyzw": [0.9510543494169211, 0.0016935711404742794, 0.3011055215443001, 0.06948540254962976]}, "gripper_closure": 0.8942731022834778, "images": ["images/d3e4b2031c2288c8/00423_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00423_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00423_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.05407216027379036, "orientation_residual_rad": 0.058514601831014236, "gripper_residual": 0.07929515838623047, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7178429365158081, 0.1634722203016281, 0.4790441691875458], "quaternion_xyzw": [0.9677204485727307, 0.04821578502480788, 0.23884956245160902, 0.06436814433638072]}, "gripper_closure": 0.6354625821113586, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 428, "eef_pose": {"position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973], "quaternion_xyzw": [0.9648468916916665, 0.03254464672729531, 0.2524710340457795, 0.06534293022340068]}, "gripper_closure": 0.8766520023345947, "images": ["images/d3e4b2031c2288c8/00428_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00428_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00428_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03895055875182152, "orientation_residual_rad": 0.041969167710611155, "gripper_residual": 0.24118942022323608, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 70, "subgoal": {"id": "sg-016", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.88 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.56 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 428, recorded EEF XYZ is (0.680, 0.157, 0.472) m in robot-base coordinates.", "Recorded gripper closure is 0.88 (0 open, 1 closed).", "Since the prior decision observation at frame 423, EEF displacement is 5.44 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.70 cm of EEF translation (+X 3.66 cm, +Y 0.37 cm, +Z 0.35 cm), 3.3° orientation change, and gripper closure 0.56.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.03664255142211914, 0.003730088472366333, 0.0034575164318084717], "translation_norm_m": 0.03699384482059889, "orientation_delta_rad": 0.05773004950086721, "gripper_from": 0.8766520023345947, "gripper_target": 0.5649780035018921, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 428, "current_images": ["images/d3e4b2031c2288c8/00428_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00428_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00428_wrist_image_left.jpg"], "current_position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973], "current_quaternion_xyzw": [0.9648468916916665, 0.03254464672729531, 0.2524710340457795, 0.06534293022340068], "current_gripper_closure": 0.8766520023345947, "previous_observation": {"source_step": 423, "position_m": [0.6343383193016052, 0.14168237149715424, 0.49668124318122864]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 428, "feedback_step": 429}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7167565226554871, 0.1609513908624649, 0.4751127064228058], "quaternion_xyzw": [0.9688906342239639, 0.053426775335181996, 0.2329991465799278, 0.0640930283524981]}, "gripper_closure": 0.5649780035018921, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 429, "eef_pose": {"position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605], "quaternion_xyzw": [0.9666775875775871, 0.037601137666890994, 0.24477510605250585, 0.06485170451357757]}, "gripper_closure": 0.8149780035018921, "images": ["images/d3e4b2031c2288c8/00429_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00429_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00429_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.03084242343902588, "orientation_residual_rad": 0.0397295945283003, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 429, EEF displacement is 0.79 cm; remaining target position residual is 3.08 cm and orientation residual is 2.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 429, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.007878642849105402, "position_residual_m": 0.03084242343902588, "orientation_residual_rad": 0.0397295945283003}, "provenance": {"observation_step": 428, "target_command_step": 428, "feedback_step": 429, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 71, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 429, "eef_pose": {"position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605], "quaternion_xyzw": [0.9666775875775871, 0.037601137666890994, 0.24477510605250585, 0.06485170451357757]}, "gripper_closure": 0.8149780035018921, "images": ["images/d3e4b2031c2288c8/00429_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00429_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00429_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7178429365158081, 0.1634722203016281, 0.4790441691875458], "quaternion_xyzw": [0.9677204485727307, 0.04821578502480788, 0.23884956245160902, 0.06436814433638072]}, "gripper_closure": 0.6354625821113586, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 428, "eef_pose": {"position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973], "quaternion_xyzw": [0.9648468916916665, 0.03254464672729531, 0.2524710340457795, 0.06534293022340068]}, "gripper_closure": 0.8766520023345947, "images": ["images/d3e4b2031c2288c8/00428_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00428_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00428_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03895055875182152, "orientation_residual_rad": 0.041969167710611155, "gripper_residual": 0.24118942022323608, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7167565226554871, 0.1609513908624649, 0.4751127064228058], "quaternion_xyzw": [0.9688906342239639, 0.053426775335181996, 0.2329991465799278, 0.0640930283524981]}, "gripper_closure": 0.5649780035018921, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 429, "eef_pose": {"position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605], "quaternion_xyzw": [0.9666775875775871, 0.037601137666890994, 0.24477510605250585, 0.06485170451357757]}, "gripper_closure": 0.8149780035018921, "images": ["images/d3e4b2031c2288c8/00429_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00429_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00429_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.03084242343902588, "orientation_residual_rad": 0.0397295945283003, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 71, "subgoal": {"id": "sg-016", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.81 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 429, recorded EEF XYZ is (0.687, 0.159, 0.468) m in robot-base coordinates.", "Recorded gripper closure is 0.81 (0 open, 1 closed).", "Since the prior decision observation at frame 428, EEF displacement is 0.79 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.08 cm of EEF translation (−X 7.32 cm, −Y 2.62 cm, −Z 7.90 cm), 15.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.07315623760223389, -0.0261879563331604, -0.0789831280708313], "translation_norm_m": 0.11079701564967964, "orientation_delta_rad": 0.2673904808730291, "gripper_from": 0.8149780035018921, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 429, "current_images": ["images/d3e4b2031c2288c8/00429_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00429_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00429_wrist_image_left.jpg"], "current_position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605], "current_quaternion_xyzw": [0.9666775875775871, 0.037601137666890994, 0.24477510605250585, 0.06485170451357757], "current_gripper_closure": 0.8149780035018921, "previous_observation": {"source_step": 428, "position_m": [0.6801139712333679, 0.15722130239009857, 0.4716551899909973]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 437, "feedback_step": 438}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6137143969535828, 0.13243846595287323, 0.3888712525367737], "quaternion_xyzw": [0.9796252936298858, 0.1192524170641512, 0.14082447999789488, 0.0792566144762699]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 438, "eef_pose": {"position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647], "quaternion_xyzw": [0.977713490929257, 0.09514450732039353, 0.16697977104469544, 0.08450803774521415]}, "gripper_closure": 0.15418502688407898, "images": ["images/d3e4b2031c2288c8/00438_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00438_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00438_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.06522547453641891, "orientation_residual_rad": 0.07201841717457826, "gripper_residual": 0.15418502688407898, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 438, EEF displacement is 6.02 cm; remaining target position residual is 6.52 cm and orientation residual is 4.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 438, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0601620749870049, "position_residual_m": 0.06522547453641891, "orientation_residual_rad": 0.07201841717457826}, "provenance": {"observation_step": 429, "target_command_step": 437, "feedback_step": 438, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 72, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 438, "eef_pose": {"position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647], "quaternion_xyzw": [0.977713490929257, 0.09514450732039353, 0.16697977104469544, 0.08450803774521415]}, "gripper_closure": 0.15418502688407898, "images": ["images/d3e4b2031c2288c8/00438_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00438_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00438_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.7167565226554871, 0.1609513908624649, 0.4751127064228058], "quaternion_xyzw": [0.9688906342239639, 0.053426775335181996, 0.2329991465799278, 0.0640930283524981]}, "gripper_closure": 0.5649780035018921, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 429, "eef_pose": {"position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605], "quaternion_xyzw": [0.9666775875775871, 0.037601137666890994, 0.24477510605250585, 0.06485170451357757]}, "gripper_closure": 0.8149780035018921, "images": ["images/d3e4b2031c2288c8/00429_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00429_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00429_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.03084242343902588, "orientation_residual_rad": 0.0397295945283003, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6137143969535828, 0.13243846595287323, 0.3888712525367737], "quaternion_xyzw": [0.9796252936298858, 0.1192524170641512, 0.14082447999789488, 0.0792566144762699]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 438, "eef_pose": {"position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647], "quaternion_xyzw": [0.977713490929257, 0.09514450732039353, 0.16697977104469544, 0.08450803774521415]}, "gripper_closure": 0.15418502688407898, "images": ["images/d3e4b2031c2288c8/00438_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00438_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00438_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.06522547453641891, "orientation_residual_rad": 0.07201841717457826, "gripper_residual": 0.15418502688407898, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 72, "subgoal": {"id": "sg-016", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.15 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 438, recorded EEF XYZ is (0.673, 0.148, 0.410) m in robot-base coordinates.", "Recorded gripper closure is 0.15 (0 open, 1 closed).", "Since the prior decision observation at frame 429, EEF displacement is 6.02 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.57 cm of EEF translation (−X 10.64 cm, −Y 2.22 cm, −Z 6.32 cm), 7.7° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.10639780759811401, -0.022229060530662537, -0.06321430206298828], "translation_norm_m": 0.1257404969732181, "orientation_delta_rad": 0.13404257012988033, "gripper_from": 0.15418502688407898, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 438, "current_images": ["images/d3e4b2031c2288c8/00438_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00438_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00438_wrist_image_left.jpg"], "current_position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647], "current_quaternion_xyzw": [0.977713490929257, 0.09514450732039353, 0.16697977104469544, 0.08450803774521415], "current_gripper_closure": 0.15418502688407898, "previous_observation": {"source_step": 429, "position_m": [0.6868706345558167, 0.15862642228603363, 0.467854380607605]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 440, "feedback_step": 441}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5670128464698792, 0.12551528215408325, 0.3470216393470764], "quaternion_xyzw": [0.9848862990889505, 0.1173521939370205, 0.10557367476964527, 0.07128562015351655]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325], "quaternion_xyzw": [0.9828057147258166, 0.11120353371073777, 0.11886985903688126, 0.0871588079603751]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00441_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00441_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07429191470146179, "orientation_residual_rad": 0.04340045804811426, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 441, EEF displacement is 5.61 cm; remaining target position residual is 7.43 cm and orientation residual is 2.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 441, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.056102057152027714, "position_residual_m": 0.07429191470146179, "orientation_residual_rad": 0.04340045804811426}, "provenance": {"observation_step": 438, "target_command_step": 440, "feedback_step": 441, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 73, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325], "quaternion_xyzw": [0.9828057147258166, 0.11120353371073777, 0.11886985903688126, 0.0871588079603751]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00441_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00441_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6137143969535828, 0.13243846595287323, 0.3888712525367737], "quaternion_xyzw": [0.9796252936298858, 0.1192524170641512, 0.14082447999789488, 0.0792566144762699]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 438, "eef_pose": {"position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647], "quaternion_xyzw": [0.977713490929257, 0.09514450732039353, 0.16697977104469544, 0.08450803774521415]}, "gripper_closure": 0.15418502688407898, "images": ["images/d3e4b2031c2288c8/00438_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00438_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00438_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.06522547453641891, "orientation_residual_rad": 0.07201841717457826, "gripper_residual": 0.15418502688407898, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5670128464698792, 0.12551528215408325, 0.3470216393470764], "quaternion_xyzw": [0.9848862990889505, 0.1173521939370205, 0.10557367476964527, 0.07128562015351655]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325], "quaternion_xyzw": [0.9828057147258166, 0.11120353371073777, 0.11886985903688126, 0.0871588079603751]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00441_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00441_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07429191470146179, "orientation_residual_rad": 0.04340045804811426, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 73, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 441, recorded EEF XYZ is (0.636, 0.142, 0.369) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 438, EEF displacement is 5.61 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 12.16 cm of EEF translation (−X 10.50 cm, −Y 2.22 cm, −Z 5.72 cm), 5.7° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.10496783256530762, -0.022223152220249176, -0.05721428990364075], "translation_norm_m": 0.1215960087224933, "orientation_delta_rad": 0.09914007711121432, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 441, "current_images": ["images/d3e4b2031c2288c8/00441_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00441_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00441_wrist_image_left.jpg"], "current_position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325], "current_quaternion_xyzw": [0.9828057147258166, 0.11120353371073777, 0.11886985903688126, 0.0871588079603751], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 438, "position_m": [0.6734106540679932, 0.1477443426847458, 0.4102359414100647]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 443, "feedback_step": 444}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5310531854629517, 0.12017139047384262, 0.3115386962890625], "quaternion_xyzw": [0.9897087738991324, 0.10314766118402423, 0.07780765282755607, 0.061506682732923604]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 444, "eef_pose": {"position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835], "quaternion_xyzw": [0.9869139280291102, 0.11266109962015644, 0.08428749532884662, 0.07876543293678534]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00444_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00444_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00444_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0671892911195755, "orientation_residual_rad": 0.04186576128848822, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 444, EEF displacement is 5.81 cm; remaining target position residual is 6.72 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 444, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.058145493678767146, "position_residual_m": 0.0671892911195755, "orientation_residual_rad": 0.04186576128848822}, "provenance": {"observation_step": 441, "target_command_step": 443, "feedback_step": 444, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 74, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 444, "eef_pose": {"position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835], "quaternion_xyzw": [0.9869139280291102, 0.11266109962015644, 0.08428749532884662, 0.07876543293678534]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00444_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00444_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00444_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5670128464698792, 0.12551528215408325, 0.3470216393470764], "quaternion_xyzw": [0.9848862990889505, 0.1173521939370205, 0.10557367476964527, 0.07128562015351655]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 441, "eef_pose": {"position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325], "quaternion_xyzw": [0.9828057147258166, 0.11120353371073777, 0.11886985903688126, 0.0871588079603751]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00441_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00441_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00441_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.07429191470146179, "orientation_residual_rad": 0.04340045804811426, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5310531854629517, 0.12017139047384262, 0.3115386962890625], "quaternion_xyzw": [0.9897087738991324, 0.10314766118402423, 0.07780765282755607, 0.061506682732923604]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 444, "eef_pose": {"position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835], "quaternion_xyzw": [0.9869139280291102, 0.11266109962015644, 0.08428749532884662, 0.07876543293678534]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00444_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00444_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00444_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0671892911195755, "orientation_residual_rad": 0.04186576128848822, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 74, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 444, recorded EEF XYZ is (0.594, 0.136, 0.329) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 441, EEF displacement is 5.81 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.54 cm of EEF translation (−X 9.59 cm, −Y 2.66 cm, −Z 5.85 cm), 7.9° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.09588798880577087, -0.026645511388778687, -0.05847817659378052], "translation_norm_m": 0.11543044144470103, "orientation_delta_rad": 0.13719772554823714, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 444, "current_images": ["images/d3e4b2031c2288c8/00444_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00444_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00444_wrist_image_left.jpg"], "current_position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835], "current_quaternion_xyzw": [0.9869139280291102, 0.11266109962015644, 0.08428749532884662, 0.07876543293678534], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 441, "position_m": [0.6360210180282593, 0.1423945426940918, 0.36875298619270325]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 446, "feedback_step": 447}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49806341528892517, 0.10928857326507568, 0.27066031098365784], "quaternion_xyzw": [0.995146489622049, 0.07314913042122631, 0.058845400278561104, 0.02949385999810282]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 447, "eef_pose": {"position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196], "quaternion_xyzw": [0.9912862578214898, 0.10029973379113898, 0.05758380366209757, 0.06305254960347269]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00447_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00447_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00447_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.055957186967134476, "orientation_residual_rad": 0.08672089672249558, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 447, EEF displacement is 6.12 cm; remaining target position residual is 5.60 cm and orientation residual is 5.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 447, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06119880814537485, "position_residual_m": 0.055957186967134476, "orientation_residual_rad": 0.08672089672249558}, "provenance": {"observation_step": 444, "target_command_step": 446, "feedback_step": 447, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 75, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 447, "eef_pose": {"position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196], "quaternion_xyzw": [0.9912862578214898, 0.10029973379113898, 0.05758380366209757, 0.06305254960347269]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00447_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00447_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00447_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5310531854629517, 0.12017139047384262, 0.3115386962890625], "quaternion_xyzw": [0.9897087738991324, 0.10314766118402423, 0.07780765282755607, 0.061506682732923604]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 444, "eef_pose": {"position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835], "quaternion_xyzw": [0.9869139280291102, 0.11266109962015644, 0.08428749532884662, 0.07876543293678534]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00444_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00444_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00444_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0671892911195755, "orientation_residual_rad": 0.04186576128848822, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49806341528892517, 0.10928857326507568, 0.27066031098365784], "quaternion_xyzw": [0.995146489622049, 0.07314913042122631, 0.058845400278561104, 0.02949385999810282]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 447, "eef_pose": {"position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196], "quaternion_xyzw": [0.9912862578214898, 0.10029973379113898, 0.05758380366209757, 0.06305254960347269]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00447_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00447_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00447_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.055957186967134476, "orientation_residual_rad": 0.08672089672249558, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 75, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 447, recorded EEF XYZ is (0.548, 0.126, 0.290) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 444, EEF displacement is 6.12 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.09 cm of EEF translation (−X 6.75 cm, −Y 2.61 cm, −Z 5.50 cm), 12.7° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.0675109326839447, -0.026097506284713745, -0.05501788854598999], "translation_norm_m": 0.0909163017626419, "orientation_delta_rad": 0.2223699175604318, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 447, "current_images": ["images/d3e4b2031c2288c8/00447_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00447_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00447_wrist_image_left.jpg"], "current_position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196], "current_quaternion_xyzw": [0.9912862578214898, 0.10029973379113898, 0.05758380366209757, 0.06305254960347269], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 444, "position_m": [0.593951404094696, 0.13593408465385437, 0.32913848757743835]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 449, "feedback_step": 450}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4802270829677582, 0.09989887475967407, 0.2352508306503296], "quaternion_xyzw": [-0.998749070328221, -0.018245919097844572, -0.045353579124840726, 0.010508749466800927]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 450, "eef_pose": {"position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896], "quaternion_xyzw": [0.9969213999857994, 0.06121193978791841, 0.04003351095031102, 0.028251348264207853]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00450_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00450_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00450_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03549176827073097, "orientation_residual_rad": 0.11629308001856675, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 450, EEF displacement is 5.59 cm; remaining target position residual is 3.55 cm and orientation residual is 6.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 450, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05592672902163168, "position_residual_m": 0.03549176827073097, "orientation_residual_rad": 0.11629308001856675}, "provenance": {"observation_step": 447, "target_command_step": 449, "feedback_step": 450, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 76, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 450, "eef_pose": {"position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896], "quaternion_xyzw": [0.9969213999857994, 0.06121193978791841, 0.04003351095031102, 0.028251348264207853]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00450_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00450_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00450_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49806341528892517, 0.10928857326507568, 0.27066031098365784], "quaternion_xyzw": [0.995146489622049, 0.07314913042122631, 0.058845400278561104, 0.02949385999810282]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 447, "eef_pose": {"position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196], "quaternion_xyzw": [0.9912862578214898, 0.10029973379113898, 0.05758380366209757, 0.06305254960347269]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00447_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00447_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00447_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.055957186967134476, "orientation_residual_rad": 0.08672089672249558, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4802270829677582, 0.09989887475967407, 0.2352508306503296], "quaternion_xyzw": [-0.998749070328221, -0.018245919097844572, -0.045353579124840726, 0.010508749466800927]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 450, "eef_pose": {"position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896], "quaternion_xyzw": [0.9969213999857994, 0.06121193978791841, 0.04003351095031102, 0.028251348264207853]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00450_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00450_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00450_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03549176827073097, "orientation_residual_rad": 0.11629308001856675, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 76, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 450, recorded EEF XYZ is (0.508, 0.113, 0.253) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 447, EEF displacement is 5.59 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.12 cm of EEF translation (−X 3.19 cm, −Y 2.28 cm, −Z 4.69 cm), 17.9° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.03193575143814087, -0.022790059447288513, -0.04693417251110077], "translation_norm_m": 0.06117267019536934, "orientation_delta_rad": 0.3132156087194607, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 450, "current_images": ["images/d3e4b2031c2288c8/00450_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00450_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00450_wrist_image_left.jpg"], "current_position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896], "current_quaternion_xyzw": [0.9969213999857994, 0.06121193978791841, 0.04003351095031102, 0.028251348264207853], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 447, "position_m": [0.5477380156517029, 0.12599638104438782, 0.2902687191963196]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 453, "feedback_step": 454}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4762076139450073, 0.08980964124202728, 0.2061782330274582], "quaternion_xyzw": [-0.9950411722884416, 0.06546919816816212, -0.03963060785906196, 0.0635316020794627]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 454, "eef_pose": {"position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769], "quaternion_xyzw": [-0.9989859887875014, 0.025848261628757797, -0.02674866206375383, 0.025364752213026986]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00454_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00454_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00454_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.013146936893463135, "orientation_residual_rad": 0.11329415052425912, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 454, EEF displacement is 4.87 cm; remaining target position residual is 1.31 cm and orientation residual is 6.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 454, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04867347171735712, "position_residual_m": 0.013146936893463135, "orientation_residual_rad": 0.11329415052425912}, "provenance": {"observation_step": 450, "target_command_step": 453, "feedback_step": 454, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 77, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 454, "eef_pose": {"position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769], "quaternion_xyzw": [-0.9989859887875014, 0.025848261628757797, -0.02674866206375383, 0.025364752213026986]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00454_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00454_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00454_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4802270829677582, 0.09989887475967407, 0.2352508306503296], "quaternion_xyzw": [-0.998749070328221, -0.018245919097844572, -0.045353579124840726, 0.010508749466800927]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 450, "eef_pose": {"position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896], "quaternion_xyzw": [0.9969213999857994, 0.06121193978791841, 0.04003351095031102, 0.028251348264207853]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00450_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00450_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00450_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03549176827073097, "orientation_residual_rad": 0.11629308001856675, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4762076139450073, 0.08980964124202728, 0.2061782330274582], "quaternion_xyzw": [-0.9950411722884416, 0.06546919816816212, -0.03963060785906196, 0.0635316020794627]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 454, "eef_pose": {"position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769], "quaternion_xyzw": [-0.9989859887875014, 0.025848261628757797, -0.02674866206375383, 0.025364752213026986]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00454_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00454_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00454_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.013146936893463135, "orientation_residual_rad": 0.11329415052425912, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 77, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 454, recorded EEF XYZ is (0.480, 0.096, 0.217) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 450, EEF displacement is 4.87 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.07 cm of EEF translation (+X 1.53 cm, −Y 0.70 cm, −Z 2.56 cm), 13.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.015309512615203857, -0.007017545402050018, -0.0256442129611969], "translation_norm_m": 0.03067984319360414, "orientation_delta_rad": 0.23163053416045465, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 454, "current_images": ["images/d3e4b2031c2288c8/00454_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00454_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00454_wrist_image_left.jpg"], "current_position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769], "current_quaternion_xyzw": [-0.9989859887875014, 0.025848261628757797, -0.02674866206375383, 0.025364752213026986], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 450, "position_m": [0.5081433653831482, 0.1125997006893158, 0.25311240553855896]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 458, "feedback_step": 459}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4950443208217621, 0.08877106755971909, 0.19169881939888], "quaternion_xyzw": [-0.9878351185739643, 0.11771289114467652, -0.039096607538634795, 0.09379183892692079]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 459, "eef_pose": {"position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704], "quaternion_xyzw": [-0.991211983687487, 0.10391224107872978, -0.028487006028880556, 0.07674333870651821]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00459_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00459_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00459_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.016913512721657753, "orientation_residual_rad": 0.04919783232720178, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 459, EEF displacement is 1.96 cm; remaining target position residual is 1.69 cm and orientation residual is 2.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 459, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.01962209831604949, "position_residual_m": 0.016913512721657753, "orientation_residual_rad": 0.04919783232720178}, "provenance": {"observation_step": 454, "target_command_step": 458, "feedback_step": 459, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 78, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 459, "eef_pose": {"position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704], "quaternion_xyzw": [-0.991211983687487, 0.10391224107872978, -0.028487006028880556, 0.07674333870651821]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00459_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00459_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00459_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4762076139450073, 0.08980964124202728, 0.2061782330274582], "quaternion_xyzw": [-0.9950411722884416, 0.06546919816816212, -0.03963060785906196, 0.0635316020794627]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 454, "eef_pose": {"position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769], "quaternion_xyzw": [-0.9989859887875014, 0.025848261628757797, -0.02674866206375383, 0.025364752213026986]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00454_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00454_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00454_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.013146936893463135, "orientation_residual_rad": 0.11329415052425912, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4950443208217621, 0.08877106755971909, 0.19169881939888], "quaternion_xyzw": [-0.9878351185739643, 0.11771289114467652, -0.039096607538634795, 0.09379183892692079]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 459, "eef_pose": {"position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704], "quaternion_xyzw": [-0.991211983687487, 0.10391224107872978, -0.028487006028880556, 0.07674333870651821]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00459_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00459_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00459_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.016913512721657753, "orientation_residual_rad": 0.04919783232720178, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 78, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 459, recorded EEF XYZ is (0.480, 0.091, 0.198) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 454, EEF displacement is 1.96 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.93 cm of EEF translation (+X 6.29 cm, −Y 2.13 cm, −Z 4.32 cm), 7.3° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.06294065713882446, -0.021287597715854645, -0.04322339594364166], "translation_norm_m": 0.07926506225620424, "orientation_delta_rad": 0.12692958241936136, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 459, "current_images": ["images/d3e4b2031c2288c8/00459_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00459_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00459_wrist_image_left.jpg"], "current_position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704], "current_quaternion_xyzw": [-0.991211983687487, 0.10391224107872978, -0.028487006028880556, 0.07674333870651821], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 454, "position_m": [0.4797348082065582, 0.0957886129617691, 0.2173430323600769]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 468, "feedback_step": 469}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.542586088180542, 0.06986580789089203, 0.15505307912826538], "quaternion_xyzw": [-0.9855317501387868, 0.15663696779737368, 0.004179024061280907, 0.06461087791943318]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 469, "eef_pose": {"position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052], "quaternion_xyzw": [-0.9867424020215316, 0.14511862777569903, -0.01073308286557299, 0.0718666602638291]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00469_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00469_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00469_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.026020623743534088, "orientation_residual_rad": 0.04045585726124052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 469, EEF displacement is 5.53 cm; remaining target position residual is 2.60 cm and orientation residual is 2.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 469, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05531971744582725, "position_residual_m": 0.026020623743534088, "orientation_residual_rad": 0.04045585726124052}, "provenance": {"observation_step": 459, "target_command_step": 468, "feedback_step": 469, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 79, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 469, "eef_pose": {"position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052], "quaternion_xyzw": [-0.9867424020215316, 0.14511862777569903, -0.01073308286557299, 0.0718666602638291]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00469_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00469_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00469_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4950443208217621, 0.08877106755971909, 0.19169881939888], "quaternion_xyzw": [-0.9878351185739643, 0.11771289114467652, -0.039096607538634795, 0.09379183892692079]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 459, "eef_pose": {"position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704], "quaternion_xyzw": [-0.991211983687487, 0.10391224107872978, -0.028487006028880556, 0.07674333870651821]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00459_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00459_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00459_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.016913512721657753, "orientation_residual_rad": 0.04919783232720178, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.542586088180542, 0.06986580789089203, 0.15505307912826538], "quaternion_xyzw": [-0.9855317501387868, 0.15663696779737368, 0.004179024061280907, 0.06461087791943318]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 469, "eef_pose": {"position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052], "quaternion_xyzw": [-0.9867424020215316, 0.14511862777569903, -0.01073308286557299, 0.0718666602638291]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00469_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00469_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00469_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.026020623743534088, "orientation_residual_rad": 0.04045585726124052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 79, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 469, recorded EEF XYZ is (0.519, 0.070, 0.166) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 459, EEF displacement is 5.53 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.75 cm of EEF translation (+X 4.52 cm, −Y 1.53 cm, −Z 4.78 cm), 8.0° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.04521912336349487, -0.015304457396268845, -0.047767698764801025], "translation_norm_m": 0.0675333145880013, "orientation_delta_rad": 0.13995283959624286, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 469, "current_images": ["images/d3e4b2031c2288c8/00469_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00469_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00469_wrist_image_left.jpg"], "current_position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052], "current_quaternion_xyzw": [-0.9867424020215316, 0.14511862777569903, -0.01073308286557299, 0.0718666602638291], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 459, "position_m": [0.47964543104171753, 0.09115340560674667, 0.19827647507190704]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 478, "feedback_step": 479}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5640136003494263, 0.05442062392830849, 0.11782161891460419], "quaternion_xyzw": [-0.9800584428499312, 0.18311969899612968, 0.04668575022305318, 0.06142528114909613]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 479, "eef_pose": {"position_m": [0.5481663942337036, 0.05607350170612335, 0.12479748576879501], "quaternion_xyzw": [-0.9817527022649445, 0.17563328646447002, 0.03650404886001154, 0.06310336518756057]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00479_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00479_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00479_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01739335060119629, "orientation_residual_rad": 0.025721755465489996, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 479, EEF displacement is 5.21 cm; remaining target position residual is 1.74 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 479, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.052086934057520066, "position_residual_m": 0.01739335060119629, "orientation_residual_rad": 0.025721755465489996}, "provenance": {"observation_step": 469, "target_command_step": 478, "feedback_step": 479, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 80, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 479, "eef_pose": {"position_m": [0.5481663942337036, 0.05607350170612335, 0.12479748576879501], "quaternion_xyzw": [-0.9817527022649445, 0.17563328646447002, 0.03650404886001154, 0.06310336518756057]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00479_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00479_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00479_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.542586088180542, 0.06986580789089203, 0.15505307912826538], "quaternion_xyzw": [-0.9855317501387868, 0.15663696779737368, 0.004179024061280907, 0.06461087791943318]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 469, "eef_pose": {"position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052], "quaternion_xyzw": [-0.9867424020215316, 0.14511862777569903, -0.01073308286557299, 0.0718666602638291]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00469_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00469_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00469_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.026020623743534088, "orientation_residual_rad": 0.04045585726124052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5640136003494263, 0.05442062392830849, 0.11782161891460419], "quaternion_xyzw": [-0.9800584428499312, 0.18311969899612968, 0.04668575022305318, 0.06142528114909613]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 479, "eef_pose": {"position_m": [0.5481663942337036, 0.05607350170612335, 0.12479748576879501], "quaternion_xyzw": [-0.9817527022649445, 0.17563328646447002, 0.03650404886001154, 0.06310336518756057]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00479_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00479_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00479_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01739335060119629, "orientation_residual_rad": 0.025721755465489996, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 80, "subgoal": {"id": "sg-017", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 479, recorded EEF XYZ is (0.548, 0.056, 0.125) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 469, EEF displacement is 5.21 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.08 cm of EEF translation (+X 3.64 cm, −Y 2.33 cm, −Z 2.67 cm), 4.0° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.03642183542251587, -0.02328350767493248, -0.0266827791929245], "translation_norm_m": 0.05080002490798441, "orientation_delta_rad": 0.0693771884954131, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 479, "current_images": ["images/d3e4b2031c2288c8/00479_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00479_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00479_wrist_image_left.jpg"], "current_position_m": [0.5481663942337036, 0.05607350170612335, 0.12479748576879501], "current_quaternion_xyzw": [-0.9817527022649445, 0.17563328646447002, 0.03650404886001154, 0.06310336518756057], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 469, "position_m": [0.5187944769859314, 0.06972508132457733, 0.1655893176794052]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 493, "feedback_step": 494}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5845882296562195, 0.03278999403119087, 0.09811470657587051], "quaternion_xyzw": [-0.9779853224697659, 0.19905020963236725, 0.047817857334824646, 0.04046202662898998]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 494, "eef_pose": {"position_m": [0.569192111492157, 0.03328189253807068, 0.10157393664121628], "quaternion_xyzw": [-0.977331496344595, 0.20041564375136472, 0.04839668387398151, 0.0481090114486147]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00494_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00494_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00494_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01578761264681816, "orientation_residual_rad": 0.015633761807884613, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 494, EEF displacement is 3.87 cm; remaining target position residual is 1.58 cm and orientation residual is 0.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 494, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.038741082442063354, "position_residual_m": 0.01578761264681816, "orientation_residual_rad": 0.015633761807884613}, "provenance": {"observation_step": 479, "target_command_step": 493, "feedback_step": 494, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 81, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 494, "eef_pose": {"position_m": [0.569192111492157, 0.03328189253807068, 0.10157393664121628], "quaternion_xyzw": [-0.977331496344595, 0.20041564375136472, 0.04839668387398151, 0.0481090114486147]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00494_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00494_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00494_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5640136003494263, 0.05442062392830849, 0.11782161891460419], "quaternion_xyzw": [-0.9800584428499312, 0.18311969899612968, 0.04668575022305318, 0.06142528114909613]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 479, "eef_pose": {"position_m": [0.5481663942337036, 0.05607350170612335, 0.12479748576879501], "quaternion_xyzw": [-0.9817527022649445, 0.17563328646447002, 0.03650404886001154, 0.06310336518756057]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00479_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00479_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00479_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01739335060119629, "orientation_residual_rad": 0.025721755465489996, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5845882296562195, 0.03278999403119087, 0.09811470657587051], "quaternion_xyzw": [-0.9779853224697659, 0.19905020963236725, 0.047817857334824646, 0.04046202662898998]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 494, "eef_pose": {"position_m": [0.569192111492157, 0.03328189253807068, 0.10157393664121628], "quaternion_xyzw": [-0.977331496344595, 0.20041564375136472, 0.04839668387398151, 0.0481090114486147]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00494_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00494_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00494_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01578761264681816, "orientation_residual_rad": 0.015633761807884613, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 81, "subgoal": {"id": "sg-018", "phase": "close_gripper", "title": "Attempt grasp / contact", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.50 while requesting the labeled pose. 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.52 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 83, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 508, "eef_pose": {"position_m": [0.5829041600227356, 0.01985429786145687, 0.0898929089307785], "quaternion_xyzw": [-0.9801594330384026, 0.1850176720457038, 0.0661949823867345, 0.02596480624702296]}, "gripper_closure": 0.458149790763855, "images": ["images/d3e4b2031c2288c8/00508_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00508_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00508_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5916563272476196, 0.021284762769937515, 0.09031237661838531], "quaternion_xyzw": [-0.9803977867109845, 0.1826796801640165, 0.07250579978015373, 0.013828350068441107]}, "gripper_closure": 0.49922066926956177, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 507, "eef_pose": {"position_m": [0.5827255845069885, 0.020190421491861343, 0.08979117125272751], "quaternion_xyzw": [-0.9798153754879265, 0.18735613998452083, 0.06380619675450941, 0.02807625372586374]}, "gripper_closure": 0.38766518235206604, "images": ["images/d3e4b2031c2288c8/00507_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00507_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00507_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.009012624621391296, "orientation_residual_rad": 0.034693046900289765, "gripper_residual": 0.11155548691749573, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5906995534896851, 0.02114780992269516, 0.09083346277475357], "quaternion_xyzw": [-0.9807408896743527, 0.18012166279380498, 0.07457279442786281, 0.011932822146235733]}, "gripper_closure": 0.5150198936462402, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 508, "eef_pose": {"position_m": [0.5829041600227356, 0.01985429786145687, 0.0898929089307785], "quaternion_xyzw": [-0.9801594330384026, 0.1850176720457038, 0.0661949823867345, 0.02596480624702296]}, "gripper_closure": 0.458149790763855, "images": ["images/d3e4b2031c2288c8/00508_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00508_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00508_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.0079577611759305, "orientation_residual_rad": 0.034140907247979295, "gripper_residual": 0.056870102882385254, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 83, "subgoal": {"id": "sg-020", "phase": "hold_adjust", "title": "Hold / fine adjustment", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.46 (0 open, 1 closed). 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 85, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 522, "eef_pose": {"position_m": [0.5671851634979248, 0.05086934566497803, 0.11258680373430252], "quaternion_xyzw": [0.992368106701682, -0.09270172170716014, -0.0810479796022542, 0.006569368024402667]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00522_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00522_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00522_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5904677510261536, 0.021435465663671494, 0.09166046231985092], "quaternion_xyzw": [-0.9807165755986048, 0.17926237035791584, 0.0772787334506, 0.009380739633868424]}, "gripper_closure": 0.49607810378074646, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 509, "eef_pose": {"position_m": [0.583350658416748, 0.01976773515343666, 0.09026903659105301], "quaternion_xyzw": [-0.9804305682823157, 0.18281350525896733, 0.0688942068310954, 0.024263374407930274]}, "gripper_closure": 0.4757709205150604, "images": ["images/d3e4b2031c2288c8/00509_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00509_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00509_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 0.007441129069775343, "orientation_residual_rad": 0.03489946647071893, "gripper_residual": 0.020307183265686035, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5380650758743286, 0.07333622127771378, 0.1472221463918686], "quaternion_xyzw": [0.996575794544081, -0.03963045875537832, -0.06898863632645326, 0.02250956519988906]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 522, "eef_pose": {"position_m": [0.5671851634979248, 0.05086934566497803, 0.11258680373430252], "quaternion_xyzw": [0.992368106701682, -0.09270172170716014, -0.0810479796022542, 0.006569368024402667]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00522_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00522_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00522_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.05052075907588005, "orientation_residual_rad": 0.1137480207395226, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 85, "subgoal": {"id": "sg-022", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 87, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 529, "eef_pose": {"position_m": [0.5200850963592529, 0.13398733735084534, 0.16301867365837097], "quaternion_xyzw": [0.9955522360813723, 0.05291828972567646, -0.058595293734717814, 0.05140030542741002]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00529_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00529_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00529_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5117039680480957, 0.12241151183843613, 0.17367088794708252], "quaternion_xyzw": [0.996494952501156, 0.03758281142520204, -0.05424693017095794, 0.05140634680780007]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 526, "eef_pose": {"position_m": [0.5409437417984009, 0.09394577890634537, 0.14114153385162354], "quaternion_xyzw": [0.996795752375808, -0.008797993817328827, -0.07198456667783698, 0.03374974830337385]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00526_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00526_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00526_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05218640714883804, "orientation_residual_rad": 0.10541901114565827, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4958024322986603, 0.16502287983894348, 0.19147402048110962], "quaternion_xyzw": [0.9930506739807929, 0.09113281528445773, -0.036981775710405576, 0.06463371527250311]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 529, "eef_pose": {"position_m": [0.5200850963592529, 0.13398733735084534, 0.16301867365837097], "quaternion_xyzw": [0.9955522360813723, 0.05291828972567646, -0.058595293734717814, 0.05140030542741002]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00529_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00529_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00529_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04860616847872734, "orientation_residual_rad": 0.09185305201737458, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 87, "subgoal": {"id": "sg-022", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 532, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05156436822800528, "position_residual_m": 0.04170781001448631, "orientation_residual_rad": 0.07370468545347847}, "provenance": {"observation_step": 529, "target_command_step": 531, "feedback_step": 532, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 532, recorded EEF XYZ is (0.502, 0.178, 0.183) m in robot-base coordinates.", "Recorded gripper closure is 0.48 (0 open, 1 closed).", "Since the prior decision observation at frame 529, EEF displacement is 5.16 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.37 cm of EEF translation (−X 3.49 cm, +Y 7.79 cm, +Z 3.86 cm), 10.5° orientation change, and gripper closure 0.73.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.03490394353866577, 0.07793287932872772, 0.0386127233505249], "translation_norm_m": 0.09371638789219619, "orientation_delta_rad": 0.18341801578970934, "gripper_from": 0.4801762104034424, "gripper_target": 0.7301762104034424, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 532, "current_images": ["images/d3e4b2031c2288c8/00532_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00532_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00532_wrist_image_left.jpg"], "current_position_m": [0.5022229552268982, 0.1781037300825119, 0.18285731971263885], "current_quaternion_xyzw": [0.9919936191244505, 0.10223854299983325, -0.03910702486287439, 0.06298079507294475], "current_gripper_closure": 0.4801762104034424, "previous_observation": {"source_step": 529, "position_m": [0.5200850963592529, 0.13398733735084534, 0.16301867365837097]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 535, "feedback_step": 536}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4673190116882324, 0.2560366094112396, 0.22147004306316376], "quaternion_xyzw": [0.9807242017476594, 0.1840036273080291, 0.0006985940740394077, 0.0657435716266154]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 536, "eef_pose": {"position_m": [0.4822859466075897, 0.2328682392835617, 0.20408113300800323], "quaternion_xyzw": [0.9856837316232342, 0.15535404062485694, -0.014745211794625991, 0.06383793546127567]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00536_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00536_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00536_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.032606083899736404, "orientation_residual_rad": 0.06595868156774054, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 536, EEF displacement is 6.20 cm; remaining target position residual is 3.26 cm and orientation residual is 3.8°. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 89, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 536, "eef_pose": {"position_m": [0.4822859466075897, 0.2328682392835617, 0.20408113300800323], "quaternion_xyzw": [0.9856837316232342, 0.15535404062485694, -0.014745211794625991, 0.06383793546127567]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00536_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00536_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00536_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.48399609327316284, 0.2068244367837906, 0.20699119567871094], "quaternion_xyzw": [0.9887519562212695, 0.12990123918047236, -0.016808361038724882, 0.07219914214990636]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 532, "eef_pose": {"position_m": [0.5022229552268982, 0.1781037300825119, 0.18285731971263885], "quaternion_xyzw": [0.9919936191244505, 0.10223854299983325, -0.03910702486287439, 0.06298079507294475]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00532_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00532_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00532_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04170781001448631, "orientation_residual_rad": 0.07370468545347847, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4673190116882324, 0.2560366094112396, 0.22147004306316376], "quaternion_xyzw": [0.9807242017476594, 0.1840036273080291, 0.0006985940740394077, 0.0657435716266154]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 536, "eef_pose": {"position_m": [0.4822859466075897, 0.2328682392835617, 0.20408113300800323], "quaternion_xyzw": [0.9856837316232342, 0.15535404062485694, -0.014745211794625991, 0.06383793546127567]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00536_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00536_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00536_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.032606083899736404, "orientation_residual_rad": 0.06595868156774054, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 89, "subgoal": {"id": "sg-023", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 90, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 540, "eef_pose": {"position_m": [0.4608269929885864, 0.2778097689151764, 0.21547670662403107], "quaternion_xyzw": [0.9779470605975314, 0.2018400940603531, -0.0044036364838218635, 0.05348580264027208]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00540_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00540_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00540_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4673190116882324, 0.2560366094112396, 0.22147004306316376], "quaternion_xyzw": [0.9807242017476594, 0.1840036273080291, 0.0006985940740394077, 0.0657435716266154]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 536, "eef_pose": {"position_m": [0.4822859466075897, 0.2328682392835617, 0.20408113300800323], "quaternion_xyzw": [0.9856837316232342, 0.15535404062485694, -0.014745211794625991, 0.06383793546127567]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00536_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00536_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00536_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.032606083899736404, "orientation_residual_rad": 0.06595868156774054, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4437488317489624, 0.29764524102211, 0.22974491119384766], "quaternion_xyzw": [0.9709680528353205, 0.2335446274167499, 0.004544553972364177, 0.05154895156208027]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 540, "eef_pose": {"position_m": [0.4608269929885864, 0.2778097689151764, 0.21547670662403107], "quaternion_xyzw": [0.9779470605975314, 0.2018400940603531, -0.0044036364838218635, 0.05348580264027208]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00540_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00540_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00540_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02981092408299446, "orientation_residual_rad": 0.06746297859057897, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 90, "subgoal": {"id": "sg-023", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. 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{"episode_id": "d3e4b2031c2288c8", "decision_index": 91, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 545, "eef_pose": {"position_m": [0.4318171441555023, 0.3230664134025574, 0.2204413264989853], "quaternion_xyzw": [0.9674623674977576, 0.24951181005923292, -0.0016374616263654068, 0.04192544377846564]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00545_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00545_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00545_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4437488317489624, 0.29764524102211, 0.22974491119384766], "quaternion_xyzw": [0.9709680528353205, 0.2335446274167499, 0.004544553972364177, 0.05154895156208027]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 540, "eef_pose": {"position_m": [0.4608269929885864, 0.2778097689151764, 0.21547670662403107], "quaternion_xyzw": [0.9779470605975314, 0.2018400940603531, -0.0044036364838218635, 0.05348580264027208]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00540_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00540_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00540_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02981092408299446, "orientation_residual_rad": 0.06746297859057897, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4230991303920746, 0.3367350101470947, 0.23343990743160248], "quaternion_xyzw": [0.9608214623983347, 0.2746207951937475, 0.0029310368756008723, 0.03737573095892008]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 545, "eef_pose": {"position_m": [0.4318171441555023, 0.3230664134025574, 0.2204413264989853], "quaternion_xyzw": [0.9674623674977576, 0.24951181005923292, -0.0016374616263654068, 0.04192544377846564]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00545_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00545_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00545_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02077973634004593, "orientation_residual_rad": 0.053522950655317675, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 91, "subgoal": {"id": "sg-024", "phase": "raise_with_closure", "title": "Raise with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.73 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 545, recorded EEF XYZ is (0.432, 0.323, 0.220) m in robot-base coordinates.", "Recorded gripper closure is 0.48 (0 open, 1 closed).", "Since the prior decision observation at frame 540, EEF displacement is 5.40 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.70 cm of EEF translation (+X 0.04 cm, +Y 4.19 cm, +Z 2.11 cm), 7.5° orientation change, and gripper closure 0.73.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.0003993809223175049, 0.04192355275154114, 0.021145999431610107], "translation_norm_m": 0.04695633154744969, "orientation_delta_rad": 0.13160958271515885, "gripper_from": 0.4801762104034424, "gripper_target": 0.7301762104034424, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 545, "current_images": ["images/d3e4b2031c2288c8/00545_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00545_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00545_wrist_image_left.jpg"], "current_position_m": [0.4318171441555023, 0.3230664134025574, 0.2204413264989853], "current_quaternion_xyzw": [0.9674623674977576, 0.24951181005923292, -0.0016374616263654068, 0.04192544377846564], "current_gripper_closure": 0.4801762104034424, "previous_observation": {"source_step": 540, "position_m": [0.4608269929885864, 0.2778097689151764, 0.21547670662403107]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 559, "feedback_step": 560}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4322165250778198, 0.3649899661540985, 0.2415873259305954], "quaternion_xyzw": [0.9495332327704229, 0.3120250215758551, -0.0021830321834248323, 0.03197280321809706]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 560, "eef_pose": {"position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905], "quaternion_xyzw": [0.9515080436476473, 0.3057589209814344, 0.0036276892141413174, 0.03362684916940025]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00560_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00560_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00560_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01098513975739479, "orientation_residual_rad": 0.01785102514714281, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 560, EEF displacement is 4.36 cm; remaining target position residual is 1.10 cm and orientation residual is 1.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 560, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04363157953519046, "position_residual_m": 0.01098513975739479, "orientation_residual_rad": 0.01785102514714281}, "provenance": {"observation_step": 545, "target_command_step": 559, "feedback_step": 560, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 92, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 560, "eef_pose": {"position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905], "quaternion_xyzw": [0.9515080436476473, 0.3057589209814344, 0.0036276892141413174, 0.03362684916940025]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00560_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00560_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00560_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4230991303920746, 0.3367350101470947, 0.23343990743160248], "quaternion_xyzw": [0.9608214623983347, 0.2746207951937475, 0.0029310368756008723, 0.03737573095892008]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 545, "eef_pose": {"position_m": [0.4318171441555023, 0.3230664134025574, 0.2204413264989853], "quaternion_xyzw": [0.9674623674977576, 0.24951181005923292, -0.0016374616263654068, 0.04192544377846564]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00545_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00545_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00545_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02077973634004593, "orientation_residual_rad": 0.053522950655317675, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4322165250778198, 0.3649899661540985, 0.2415873259305954], "quaternion_xyzw": [0.9495332327704229, 0.3120250215758551, -0.0021830321834248323, 0.03197280321809706]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 560, "eef_pose": {"position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905], "quaternion_xyzw": [0.9515080436476473, 0.3057589209814344, 0.0036276892141413174, 0.03362684916940025]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00560_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00560_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00560_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01098513975739479, "orientation_residual_rad": 0.01785102514714281, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 92, "subgoal": {"id": "sg-025", "phase": "move_with_closure", "title": "Reposition with gripper closure", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Increase closure toward 0.52 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 560, recorded EEF XYZ is (0.423, 0.362, 0.237) m in robot-base coordinates.", "Recorded gripper closure is 0.48 (0 open, 1 closed).", "Since the prior decision observation at frame 545, EEF displacement is 4.36 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 1.39 cm of EEF translation (+X 1.01 cm, −Y 0.59 cm, −Z 0.76 cm), 5.0° orientation change, and gripper closure 0.52.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.010065048933029175, -0.005920141935348511, -0.007568582892417908], "translation_norm_m": 0.013915341805300536, "orientation_delta_rad": 0.0873816035906543, "gripper_from": 0.4801762104034424, "gripper_target": 0.5169305205345154, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 560, "current_images": ["images/d3e4b2031c2288c8/00560_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00560_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00560_wrist_image_left.jpg"], "current_position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905], "current_quaternion_xyzw": [0.9515080436476473, 0.3057589209814344, 0.0036276892141413174, 0.03362684916940025], "current_gripper_closure": 0.4801762104034424, "previous_observation": {"source_step": 545, "position_m": [0.4318171441555023, 0.3230664134025574, 0.2204413264989853]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 570, "feedback_step": 571}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.43267539143562317, 0.35647866129875183, 0.22936251759529114], "quaternion_xyzw": [0.9439313339570152, 0.3266686911955891, -0.03397489334247526, 0.033569474065851625]}, "gripper_closure": 0.5169305205345154, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 571, "eef_pose": {"position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997], "quaternion_xyzw": [0.9467091561571045, 0.3190528557826351, -0.024471515188409065, 0.03671775877735205]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00571_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00571_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00571_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.006729851942509413, "orientation_residual_rad": 0.025763961883806908, "gripper_residual": 0.036754310131073, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 571, EEF displacement is 1.41 cm; remaining target position residual is 0.67 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 571, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.014050637789244457, "position_residual_m": 0.006729851942509413, "orientation_residual_rad": 0.025763961883806908}, "provenance": {"observation_step": 560, "target_command_step": 570, "feedback_step": 571, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 93, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 571, "eef_pose": {"position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997], "quaternion_xyzw": [0.9467091561571045, 0.3190528557826351, -0.024471515188409065, 0.03671775877735205]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00571_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00571_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00571_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4322165250778198, 0.3649899661540985, 0.2415873259305954], "quaternion_xyzw": [0.9495332327704229, 0.3120250215758551, -0.0021830321834248323, 0.03197280321809706]}, "gripper_closure": 0.7301762104034424, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 560, "eef_pose": {"position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905], "quaternion_xyzw": [0.9515080436476473, 0.3057589209814344, 0.0036276892141413174, 0.03362684916940025]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00560_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00560_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00560_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01098513975739479, "orientation_residual_rad": 0.01785102514714281, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.43267539143562317, 0.35647866129875183, 0.22936251759529114], "quaternion_xyzw": [0.9439313339570152, 0.3266686911955891, -0.03397489334247526, 0.033569474065851625]}, "gripper_closure": 0.5169305205345154, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 571, "eef_pose": {"position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997], "quaternion_xyzw": [0.9467091561571045, 0.3190528557826351, -0.024471515188409065, 0.03671775877735205]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00571_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00571_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00571_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.006729851942509413, "orientation_residual_rad": 0.025763961883806908, "gripper_residual": 0.036754310131073, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 93, "subgoal": {"id": "sg-026", "phase": "open_gripper", "title": "Open / release attempt", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.48 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 571, recorded EEF XYZ is (0.427, 0.353, 0.227) m in robot-base coordinates.", "Recorded gripper closure is 0.48 (0 open, 1 closed).", "Since the prior decision observation at frame 560, EEF displacement is 1.41 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.36 cm of EEF translation (+X 0.01 cm, −Y 6.15 cm, +Z 4.03 cm), 7.8° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [0.00012111663818359375, -0.06152987480163574, 0.04034276306629181], "translation_norm_m": 0.07357634602348755, "orientation_delta_rad": 0.13591882725938254, "gripper_from": 0.4801762104034424, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 571, "current_images": ["images/d3e4b2031c2288c8/00571_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00571_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00571_wrist_image_left.jpg"], "current_position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997], "current_quaternion_xyzw": [0.9467091561571045, 0.3190528557826351, -0.024471515188409065, 0.03671775877735205], "current_gripper_closure": 0.4801762104034424, "previous_observation": {"source_step": 560, "position_m": [0.422610342502594, 0.36239880323410034, 0.23693110048770905]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 585, "feedback_step": 586}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4272402226924896, 0.29189762473106384, 0.2674449682235718], "quaternion_xyzw": [0.9638717097654154, 0.2579185369352387, -0.027189581773866853, 0.060746045649431736]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 586, "eef_pose": {"position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427], "quaternion_xyzw": [0.9533802826128271, 0.29728172495912886, -0.029687638238480436, 0.04252360363647074]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00586_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00586_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00586_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.046675536781549454, "orientation_residual_rad": 0.08940158818658239, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 586, EEF displacement is 3.00 cm; remaining target position residual is 4.67 cm and orientation residual is 5.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 586, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.029985593686113806, "position_residual_m": 0.046675536781549454, "orientation_residual_rad": 0.08940158818658239}, "provenance": {"observation_step": 571, "target_command_step": 585, "feedback_step": 586, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 94, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 586, "eef_pose": {"position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427], "quaternion_xyzw": [0.9533802826128271, 0.29728172495912886, -0.029687638238480436, 0.04252360363647074]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00586_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00586_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00586_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.43267539143562317, 0.35647866129875183, 0.22936251759529114], "quaternion_xyzw": [0.9439313339570152, 0.3266686911955891, -0.03397489334247526, 0.033569474065851625]}, "gripper_closure": 0.5169305205345154, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 571, "eef_pose": {"position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997], "quaternion_xyzw": [0.9467091561571045, 0.3190528557826351, -0.024471515188409065, 0.03671775877735205]}, "gripper_closure": 0.4801762104034424, "images": ["images/d3e4b2031c2288c8/00571_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00571_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00571_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.006729851942509413, "orientation_residual_rad": 0.025763961883806908, "gripper_residual": 0.036754310131073, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4272402226924896, 0.29189762473106384, 0.2674449682235718], "quaternion_xyzw": [0.9638717097654154, 0.2579185369352387, -0.027189581773866853, 0.060746045649431736]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 586, "eef_pose": {"position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427], "quaternion_xyzw": [0.9533802826128271, 0.29728172495912886, -0.029687638238480436, 0.04252360363647074]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00586_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00586_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00586_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.046675536781549454, "orientation_residual_rad": 0.08940158818658239, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 94, "subgoal": {"id": "sg-027", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 586, recorded EEF XYZ is (0.434, 0.325, 0.236) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 571, EEF displacement is 3.00 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.89 cm of EEF translation (−X 1.01 cm, −Y 8.12 cm, +Z 5.55 cm), 12.8° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.01009860634803772, -0.08123220503330231, 0.05554284155368805], "translation_norm_m": 0.09892249608963165, "orientation_delta_rad": 0.22404670740915736, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 586, "current_images": ["images/d3e4b2031c2288c8/00586_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00586_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00586_wrist_image_left.jpg"], "current_position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427], "current_quaternion_xyzw": [0.9533802826128271, 0.29728172495912886, -0.029687638238480436, 0.04252360363647074], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 571, "position_m": [0.42711910605430603, 0.3534274995326996, 0.22710220515727997]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 589, "feedback_step": 590}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42360806465148926, 0.24421875178813934, 0.2911921441555023], "quaternion_xyzw": [0.9776235974926695, 0.1930553750303126, -0.03806097029519877, 0.07438471844125145]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 590, "eef_pose": {"position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746], "quaternion_xyzw": [0.9680044012678991, 0.23896436512458147, -0.03763821921628035, 0.06668489919621273]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00590_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00590_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00590_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.049023665487766266, "orientation_residual_rad": 0.09508008970710544, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 590, EEF displacement is 5.33 cm; remaining target position residual is 4.90 cm and orientation residual is 5.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 590, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05329773878414731, "position_residual_m": 0.049023665487766266, "orientation_residual_rad": 0.09508008970710544}, "provenance": {"observation_step": 586, "target_command_step": 589, "feedback_step": 590, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 95, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 590, "eef_pose": {"position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746], "quaternion_xyzw": [0.9680044012678991, 0.23896436512458147, -0.03763821921628035, 0.06668489919621273]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00590_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00590_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00590_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4272402226924896, 0.29189762473106384, 0.2674449682235718], "quaternion_xyzw": [0.9638717097654154, 0.2579185369352387, -0.027189581773866853, 0.060746045649431736]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 586, "eef_pose": {"position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427], "quaternion_xyzw": [0.9533802826128271, 0.29728172495912886, -0.029687638238480436, 0.04252360363647074]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00586_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00586_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00586_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.046675536781549454, "orientation_residual_rad": 0.08940158818658239, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42360806465148926, 0.24421875178813934, 0.2911921441555023], "quaternion_xyzw": [0.9776235974926695, 0.1930553750303126, -0.03806097029519877, 0.07438471844125145]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 590, "eef_pose": {"position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746], "quaternion_xyzw": [0.9680044012678991, 0.23896436512458147, -0.03763821921628035, 0.06668489919621273]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00590_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00590_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00590_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.049023665487766266, "orientation_residual_rad": 0.09508008970710544, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 95, "subgoal": {"id": "sg-027", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 590, recorded EEF XYZ is (0.441, 0.279, 0.262) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 586, EEF displacement is 5.33 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.97 cm of EEF translation (−X 4.02 cm, −Y 8.91 cm, +Z 4.98 cm), 13.6° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.040174007415771484, -0.08908532559871674, 0.04980963468551636], "translation_norm_m": 0.10968657992834142, "orientation_delta_rad": 0.23756184178223616, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 590, "current_images": ["images/d3e4b2031c2288c8/00590_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00590_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00590_wrist_image_left.jpg"], "current_position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746], "current_quaternion_xyzw": [0.9680044012678991, 0.23896436512458147, -0.03763821921628035, 0.06668489919621273], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 586, "position_m": [0.433706670999527, 0.32545095682144165, 0.23564930260181427]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 593, "feedback_step": 594}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4004233777523041, 0.1903098076581955, 0.3113824427127838], "quaternion_xyzw": [0.990066833950708, 0.12272575093967578, -0.02906525641509195, 0.06213907978590114]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 594, "eef_pose": {"position_m": [0.43228909373283386, 0.2307129204273224, 0.28464826941490173], "quaternion_xyzw": [0.981560956139179, 0.17359333291131496, -0.04012716579778119, 0.0692333353011335]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00594_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00594_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00594_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0579875111579895, "orientation_residual_rad": 0.10645607582817677, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 594, EEF displacement is 5.45 cm; remaining target position residual is 5.80 cm and orientation residual is 6.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 594, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05451112245047421, "position_residual_m": 0.0579875111579895, "orientation_residual_rad": 0.10645607582817677}, "provenance": {"observation_step": 590, "target_command_step": 593, "feedback_step": 594, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 96, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 594, "eef_pose": {"position_m": [0.43228909373283386, 0.2307129204273224, 0.28464826941490173], "quaternion_xyzw": [0.981560956139179, 0.17359333291131496, -0.04012716579778119, 0.0692333353011335]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00594_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00594_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00594_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42360806465148926, 0.24421875178813934, 0.2911921441555023], "quaternion_xyzw": [0.9776235974926695, 0.1930553750303126, -0.03806097029519877, 0.07438471844125145]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 590, "eef_pose": {"position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746], "quaternion_xyzw": [0.9680044012678991, 0.23896436512458147, -0.03763821921628035, 0.06668489919621273]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00590_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00590_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00590_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.049023665487766266, "orientation_residual_rad": 0.09508008970710544, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4004233777523041, 0.1903098076581955, 0.3113824427127838], "quaternion_xyzw": [0.990066833950708, 0.12272575093967578, -0.02906525641509195, 0.06213907978590114]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 594, "eef_pose": {"position_m": [0.43228909373283386, 0.2307129204273224, 0.28464826941490173], "quaternion_xyzw": [0.981560956139179, 0.17359333291131496, -0.04012716579778119, 0.0692333353011335]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00594_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00594_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00594_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0579875111579895, "orientation_residual_rad": 0.10645607582817677, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 96, "subgoal": {"id": "sg-027", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 594, recorded EEF XYZ is (0.432, 0.231, 0.285) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 590, EEF displacement is 5.45 cm."], "task_context": "The instruction requests: Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.47 cm of EEF translation (−X 2.10 cm, −Y 4.82 cm, +Z 1.50 cm), 7.1° orientation change, and gripper closure 0.00.", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "translation_delta_m": [-0.02101925015449524, -0.04822768270969391, 0.014979630708694458], "translation_norm_m": 0.054700160811217174, "orientation_delta_rad": 0.12438796388103597, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Identify the active object-level step in the images, then check its result before advancing the instruction.", "evidence": {"current_observation_step": 594, "current_images": ["images/d3e4b2031c2288c8/00594_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00594_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00594_wrist_image_left.jpg"], "current_position_m": [0.43228909373283386, 0.2307129204273224, 0.28464826941490173], "current_quaternion_xyzw": [0.981560956139179, 0.17359333291131496, -0.04012716579778119, 0.0692333353011335], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 590, "position_m": [0.44059738516807556, 0.27939513325691223, 0.26157280802726746]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/d3e4b2031c2288c8/00000_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 597, "feedback_step": 598}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4112698435783386, 0.18248523771762848, 0.2996279001235962], "quaternion_xyzw": [0.9909760628320506, 0.11294377635006463, -0.04116074879086365, 0.05929535425857595]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 598, "eef_pose": {"position_m": [0.41122275590896606, 0.18238689005374908, 0.29968100786209106], "quaternion_xyzw": [0.9909836949253695, 0.11288058626734099, -0.04112597289620673, 0.059312258339603956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00598_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00598_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00598_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.00012128455273341388, "orientation_residual_rad": 0.00014894759091979554, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 598, EEF displacement is 5.48 cm; remaining target position residual is 0.01 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 598, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05481951318826588, "position_residual_m": 0.00012128455273341388, "orientation_residual_rad": 0.00014894759091979554}, "provenance": {"observation_step": 594, "target_command_step": 597, "feedback_step": 598, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "d3e4b2031c2288c8", "decision_index": 97, "split": "test", "task": "Pick up the white towel and put it in the basket , pick up the marker and put it in the cup, then, pick up the yellow towel and put it in the basket, and finally pick up the masking tape and put it in the cup", "instruction_available": true, "observation": {"source_step": 598, "eef_pose": {"position_m": [0.41122275590896606, 0.18238689005374908, 0.29968100786209106], "quaternion_xyzw": [0.9909836949253695, 0.11288058626734099, -0.04112597289620673, 0.059312258339603956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00598_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00598_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00598_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4004233777523041, 0.1903098076581955, 0.3113824427127838], "quaternion_xyzw": [0.990066833950708, 0.12272575093967578, -0.02906525641509195, 0.06213907978590114]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 594, "eef_pose": {"position_m": [0.43228909373283386, 0.2307129204273224, 0.28464826941490173], "quaternion_xyzw": [0.981560956139179, 0.17359333291131496, -0.04012716579778119, 0.0692333353011335]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00594_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00594_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00594_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0579875111579895, "orientation_residual_rad": 0.10645607582817677, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4112698435783386, 0.18248523771762848, 0.2996279001235962], "quaternion_xyzw": [0.9909760628320506, 0.11294377635006463, -0.04116074879086365, 0.05929535425857595]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 598, "eef_pose": {"position_m": [0.41122275590896606, 0.18238689005374908, 0.29968100786209106], "quaternion_xyzw": [0.9909836949253695, 0.11288058626734099, -0.04112597289620673, 0.059312258339603956]}, "gripper_closure": 0.0, "images": ["images/d3e4b2031c2288c8/00598_exterior_image_1_left.jpg", "images/d3e4b2031c2288c8/00598_exterior_image_2_left.jpg", "images/d3e4b2031c2288c8/00598_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.00012128455273341388, "orientation_residual_rad": 0.00014894759091979554, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 97, "subgoal": {"id": "sg-028", "phase": "hold_adjust", "title": "Hold / fine adjustment", "intent": "Continue the multi-step instruction; the active object-level step is not reliably localized.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Continue the multi-step instruction; the active object-level step is not reliably localized. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "0eac3b5d5056af67", "decision_index": 0, "split": "test", "task": "Put the orange toy into the wooden box", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.4168921411037445, -0.04461634159088135, 0.3863469362258911], "quaternion_xyzw": [-0.9872045769341452, 0.13911385763432196, 0.02694331261600447, 0.07313354770315218]}, "gripper_closure": 0.0, "images": ["images/0eac3b5d5056af67/00000_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00000_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with orange toy", "intent": "Align the end effector for a candidate interaction with orange toy.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with orange toy. Maintain closure toward 0.00 while requesting the labeled pose. 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Align the end effector for a candidate interaction with orange toy. Maintain closure toward 0.00 while requesting the labeled pose. 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Reposition the candidate interaction with orange toy; object attachment is unverified. Increase closure toward 0.97 while requesting the labeled pose. 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{"episode_id": "0eac3b5d5056af67", "decision_index": 14, "split": "test", "task": "Put the orange toy into the wooden box", "instruction_available": true, "observation": {"source_step": 95, "eef_pose": {"position_m": [0.6531766057014465, 0.08850525319576263, 0.2078910917043686], "quaternion_xyzw": [-0.9656151988420593, 0.1485989027243287, -0.12014921150852789, 0.1762663349826467]}, "gripper_closure": 0.8766520023345947, "images": ["images/0eac3b5d5056af67/00095_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00095_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00095_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.649796724319458, 0.06614553928375244, 0.22293958067893982], "quaternion_xyzw": [-0.9623666008849721, 0.1606286072828452, -0.1378271146767966, 0.17044841590154886]}, "gripper_closure": 0.9691630005836487, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 88, "eef_pose": {"position_m": [0.6268265843391418, 0.052282270044088364, 0.23373201489448547], "quaternion_xyzw": [-0.9580086377428159, 0.18301561617835782, -0.14932951948975398, 0.1625590011471805]}, "gripper_closure": 0.8766520023345947, "images": ["images/0eac3b5d5056af67/00088_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00088_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00088_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.028918752446770668, "orientation_residual_rad": 0.0534700201701328, "gripper_residual": 0.09251099824905396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6770286560058594, 0.09901950508356094, 0.2010023295879364], "quaternion_xyzw": [-0.9690424585171252, 0.13089957082739573, -0.11039685515576486, 0.17786104216496176]}, "gripper_closure": 0.9691630005836487, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 95, "eef_pose": {"position_m": [0.6531766057014465, 0.08850525319576263, 0.2078910917043686], "quaternion_xyzw": [-0.9656151988420593, 0.1485989027243287, -0.12014921150852789, 0.1762663349826467]}, "gripper_closure": 0.8766520023345947, "images": ["images/0eac3b5d5056af67/00095_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00095_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00095_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.026961542665958405, "orientation_residual_rad": 0.041118311824170556, "gripper_residual": 0.09251099824905396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 14, "subgoal": {"id": "sg-005", "phase": "raise_with_closure", "title": "Raise candidate interaction: orange toy", "intent": "Raise the end effector while maintaining closure; retention of orange toy remains unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.88 (0 open, 1 closed). 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.55 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 110, recorded EEF XYZ is (0.671, 0.097, 0.213) m in robot-base coordinates.", "Recorded gripper closure is 0.88 (0 open, 1 closed).", "Since the prior decision observation at frame 95, EEF displacement is 2.09 cm."], "task_context": "The instruction requests: Put the orange toy into the wooden box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.99 cm of EEF translation (−X 3.21 cm, +Y 1.81 cm, +Z 1.53 cm), 3.1° orientation change, and gripper closure 0.55.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [-0.03211015462875366, 0.01812274008989334, 0.015252694487571716], "translation_norm_m": 0.03990163439985257, "orientation_delta_rad": 0.05439478327484282, "gripper_from": 0.8766520023345947, "gripper_target": 0.5499676465988159, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 110, "current_images": ["images/0eac3b5d5056af67/00110_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00110_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00110_wrist_image_left.jpg"], "current_position_m": [0.6714757084846497, 0.09732106328010559, 0.21299709379673004], "current_quaternion_xyzw": [-0.9723910852647374, 0.11586409758780575, -0.10248519878519738, 0.17472227167075235], "current_gripper_closure": 0.8766520023345947, "previous_observation": {"source_step": 95, "position_m": [0.6531766057014465, 0.08850525319576263, 0.2078910917043686]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/0eac3b5d5056af67/00000_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 121, "feedback_step": 122}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.639365553855896, 0.11544380336999893, 0.22824978828430176], "quaternion_xyzw": [-0.9744622564828141, 0.09965252525600596, -0.0825960306383181, 0.1834954512333135]}, "gripper_closure": 0.5499676465988159, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 122, "eef_pose": {"position_m": [0.6577293276786804, 0.1074664518237114, 0.21721161901950836], "quaternion_xyzw": [-0.9738861215560389, 0.10805740671323202, -0.09428729816561546, 0.1760094443476698]}, "gripper_closure": 0.7929515242576599, "images": ["images/0eac3b5d5056af67/00122_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00122_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00122_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.02286279760301113, "orientation_residual_rad": 0.03247804145953611, "gripper_residual": 0.242983877658844, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 122, EEF displacement is 1.76 cm; remaining target position residual is 2.29 cm and orientation residual is 1.9°. 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{"episode_id": "0eac3b5d5056af67", "decision_index": 16, "split": "test", "task": "Put the orange toy into the wooden box", "instruction_available": true, "observation": {"source_step": 122, "eef_pose": {"position_m": [0.6577293276786804, 0.1074664518237114, 0.21721161901950836], "quaternion_xyzw": [-0.9738861215560389, 0.10805740671323202, -0.09428729816561546, 0.1760094443476698]}, "gripper_closure": 0.7929515242576599, "images": ["images/0eac3b5d5056af67/00122_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00122_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00122_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6676486134529114, 0.11299698054790497, 0.2222960889339447], "quaternion_xyzw": [-0.9729476210373134, 0.10497506768167833, -0.09987443930926587, 0.17993959613081043]}, "gripper_closure": 0.9691630005836487, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 110, "eef_pose": {"position_m": [0.6714757084846497, 0.09732106328010559, 0.21299709379673004], "quaternion_xyzw": [-0.9723910852647374, 0.11586409758780575, -0.10248519878519738, 0.17472227167075235]}, "gripper_closure": 0.8766520023345947, "images": ["images/0eac3b5d5056af67/00110_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00110_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00110_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.018623972311615944, "orientation_residual_rad": 0.024732100000234753, "gripper_residual": 0.09251099824905396, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.639365553855896, 0.11544380336999893, 0.22824978828430176], "quaternion_xyzw": [-0.9744622564828141, 0.09965252525600596, -0.0825960306383181, 0.1834954512333135]}, "gripper_closure": 0.5499676465988159, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 122, "eef_pose": {"position_m": [0.6577293276786804, 0.1074664518237114, 0.21721161901950836], "quaternion_xyzw": [-0.9738861215560389, 0.10805740671323202, -0.09428729816561546, 0.1760094443476698]}, "gripper_closure": 0.7929515242576599, "images": ["images/0eac3b5d5056af67/00122_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00122_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00122_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.02286279760301113, "orientation_residual_rad": 0.03247804145953611, "gripper_residual": 0.242983877658844, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 16, "subgoal": {"id": "sg-006", "phase": "open_gripper", "title": "Open gripper / inspect release: orange toy", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.79 (0 open, 1 closed). Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 122, recorded EEF XYZ is (0.658, 0.107, 0.217) m in robot-base coordinates.", "Recorded gripper closure is 0.79 (0 open, 1 closed).", "Since the prior decision observation at frame 110, EEF displacement is 1.76 cm."], "task_context": "The instruction requests: Put the orange toy into the wooden box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.04 cm of EEF translation (−X 4.02 cm, −Y 1.40 cm, +Z 5.61 cm), 5.5° orientation change, and gripper closure 0.00.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [-0.040242552757263184, -0.014042876660823822, 0.056071922183036804], "translation_norm_m": 0.07043242076368493, "orientation_delta_rad": 0.09517102185411404, "gripper_from": 0.7929515242576599, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 122, "current_images": ["images/0eac3b5d5056af67/00122_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00122_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00122_wrist_image_left.jpg"], "current_position_m": [0.6577293276786804, 0.1074664518237114, 0.21721161901950836], "current_quaternion_xyzw": [-0.9738861215560389, 0.10805740671323202, -0.09428729816561546, 0.1760094443476698], "current_gripper_closure": 0.7929515242576599, "previous_observation": {"source_step": 110, "position_m": [0.6714757084846497, 0.09732106328010559, 0.21299709379673004]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/0eac3b5d5056af67/00000_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 136, "feedback_step": 137}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6174867749214172, 0.09342357516288757, 0.27328354120254517], "quaternion_xyzw": [-0.9708183209119897, 0.1519210825783296, -0.07773474190889906, 0.16849060018354198]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 137, "eef_pose": {"position_m": [0.6360498666763306, 0.1086299866437912, 0.23349644243717194], "quaternion_xyzw": [-0.9727006327719053, 0.12880329381487357, -0.07804316769065923, 0.176557227222173]}, "gripper_closure": 0.0, "images": ["images/0eac3b5d5056af67/00137_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00137_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00137_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.04646328464150429, "orientation_residual_rad": 0.04911908675203698, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 137, EEF displacement is 2.71 cm; remaining target position residual is 4.65 cm and orientation residual is 2.8°. 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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 137, recorded EEF XYZ is (0.636, 0.109, 0.233) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 122, EEF displacement is 2.71 cm."], "task_context": "The instruction requests: Put the orange toy into the wooden box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.01 cm of EEF translation (−X 0.19 cm, −Y 0.87 cm, +Z 1.80 cm), 1.4° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.0019320249557495117, -0.008711010217666626, 0.017962142825126648], "translation_norm_m": 0.020056245768143646, "orientation_delta_rad": 0.024683198132225092, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 137, "current_images": ["images/0eac3b5d5056af67/00137_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00137_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00137_wrist_image_left.jpg"], "current_position_m": [0.6360498666763306, 0.1086299866437912, 0.23349644243717194], "current_quaternion_xyzw": [-0.9727006327719053, 0.12880329381487357, -0.07804316769065923, 0.176557227222173], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 122, "position_m": [0.6577293276786804, 0.1074664518237114, 0.21721161901950836]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/0eac3b5d5056af67/00000_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 138, "feedback_step": 139}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.634117841720581, 0.09991897642612457, 0.2514585852622986], "quaternion_xyzw": [-0.9715498095380442, 0.13810258421728783, -0.08502919407158209, 0.17259397432886842]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 139, "eef_pose": {"position_m": [0.6341310739517212, 0.09983336180448532, 0.25169652700424194], "quaternion_xyzw": [-0.9715380553371048, 0.13811452592283965, -0.08521229505550039, 0.17256027796767187]}, "gripper_closure": 0.0, "images": ["images/0eac3b5d5056af67/00139_exterior_image_1_left.jpg", "images/0eac3b5d5056af67/00139_exterior_image_2_left.jpg", "images/0eac3b5d5056af67/00139_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 2, "position_residual_m": 0.0002532216894906014, "orientation_residual_rad": 0.00037385655400270297, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 139, EEF displacement is 2.03 cm; remaining target position residual is 0.03 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 139, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.020305306014241867, "position_residual_m": 0.0002532216894906014, "orientation_residual_rad": 0.00037385655400270297}, "provenance": {"observation_step": 137, "target_command_step": 138, "feedback_step": 139, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 0, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.38807058334350586, 0.13107246160507202, 0.5638231039047241], "quaternion_xyzw": [0.9887937632831848, 0.10285187966312084, -0.09937283811711585, 0.04281849584688316]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "hold_adjust", "title": "Hold / fine adjustment", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 0, recorded EEF XYZ is (0.388, 0.131, 0.564) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed)."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.00 cm of EEF translation (+X 0.00 cm, +Y 0.00 cm, +Z 0.00 cm), 0.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [2.345442771911621e-05, 1.023709774017334e-05, 2.7239322662353516e-05], "translation_norm_m": 3.737497891473539e-05, "orientation_delta_rad": 0.00026470778430019953, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 0, "current_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "current_position_m": [0.38807058334350586, 0.13107246160507202, 0.5638231039047241], "current_quaternion_xyzw": [0.9887937632831848, 0.10285187966312084, -0.09937283811711585, 0.04281849584688316], "current_gripper_closure": 0.0, "previous_observation": null, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 14, "feedback_step": 15}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.388094037771225, 0.1310826987028122, 0.5638503432273865], "quaternion_xyzw": [0.9888064674108004, 0.10286054217092634, -0.09924177851223609, 0.042808273366317734]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885], "quaternion_xyzw": [0.9888062082444519, 0.1028602683890373, -0.09924429964276407, 0.04280907278349249]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00015_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00015_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 2.3428492568200454e-06, "orientation_residual_rad": 5.343141651658157e-06, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 15, EEF displacement is 0.00 cm; remaining target position residual is 0.00 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 15, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 3.5387082961372654e-05, "position_residual_m": 2.3428492568200454e-06, "orientation_residual_rad": 5.343141651658157e-06}, "provenance": {"observation_step": 0, "target_command_step": 14, "feedback_step": 15, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 1, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885], "quaternion_xyzw": [0.9888062082444519, 0.1028602683890373, -0.09924429964276407, 0.04280907278349249]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00015_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00015_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.388094037771225, 0.1310826987028122, 0.5638503432273865], "quaternion_xyzw": [0.9888064674108004, 0.10286054217092634, -0.09924177851223609, 0.042808273366317734]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885], "quaternion_xyzw": [0.9888062082444519, 0.1028602683890373, -0.09924429964276407, 0.04280907278349249]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00015_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00015_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 2.3428492568200454e-06, "orientation_residual_rad": 5.343141651658157e-06, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 1, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 15, recorded EEF XYZ is (0.388, 0.131, 0.564) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 0, EEF displacement is 0.00 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.19 cm of EEF translation (+X 1.55 cm, −Y 1.54 cm, +Z 0.17 cm), 2.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.015528380870819092, -0.015350580215454102, 0.0017327666282653809], "translation_norm_m": 0.02190373040393671, "orientation_delta_rad": 0.04249914536981017, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 15, "current_images": ["images/4f5d9d563b4f35c6/00015_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00015_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00015_wrist_image_left.jpg"], "current_position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885], "current_quaternion_xyzw": [0.9888062082444519, 0.1028602683890373, -0.09924429964276407, 0.04280907278349249], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 0, "position_m": [0.38807058334350586, 0.13107246160507202, 0.5638231039047241]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 29, "feedback_step": 30}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4036218225955963, 0.11573217809200287, 0.5655808448791504], "quaternion_xyzw": [0.9907486181001497, 0.10417981378470789, -0.08002408503465096, 0.034057127694417454]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 30, "eef_pose": {"position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587], "quaternion_xyzw": [0.9897581679360363, 0.10157301779821938, -0.09159122493419554, 0.04089912681607255]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00030_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00030_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00030_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.016881579533219337, "orientation_residual_rad": 0.027451121059682528, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 30, EEF displacement is 0.51 cm; remaining target position residual is 1.69 cm and orientation residual is 1.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 30, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.00512496073374911, "position_residual_m": 0.016881579533219337, "orientation_residual_rad": 0.027451121059682528}, "provenance": {"observation_step": 15, "target_command_step": 29, "feedback_step": 30, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 2, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 30, "eef_pose": {"position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587], "quaternion_xyzw": [0.9897581679360363, 0.10157301779821938, -0.09159122493419554, 0.04089912681607255]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00030_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00030_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00030_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.388094037771225, 0.1310826987028122, 0.5638503432273865], "quaternion_xyzw": [0.9888064674108004, 0.10286054217092634, -0.09924177851223609, 0.042808273366317734]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 15, "eef_pose": {"position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885], "quaternion_xyzw": [0.9888062082444519, 0.1028602683890373, -0.09924429964276407, 0.04280907278349249]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00015_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00015_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00015_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 2.3428492568200454e-06, "orientation_residual_rad": 5.343141651658157e-06, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4036218225955963, 0.11573217809200287, 0.5655808448791504], "quaternion_xyzw": [0.9907486181001497, 0.10417981378470789, -0.08002408503465096, 0.034057127694417454]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 30, "eef_pose": {"position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587], "quaternion_xyzw": [0.9897581679360363, 0.10157301779821938, -0.09159122493419554, 0.04089912681607255]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00030_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00030_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00030_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.016881579533219337, "orientation_residual_rad": 0.027451121059682528, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 2, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 30, recorded EEF XYZ is (0.391, 0.127, 0.565) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 15, EEF displacement is 0.51 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.80 cm of EEF translation (+X 4.82 cm, −Y 6.13 cm, −Z 0.24 cm), 4.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.048203080892562866, -0.06131981313228607, -0.0023984313011169434], "translation_norm_m": 0.07803466513556408, "orientation_delta_rad": 0.07032465834117199, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 30, "current_images": ["images/4f5d9d563b4f35c6/00030_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00030_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00030_wrist_image_left.jpg"], "current_position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587], "current_quaternion_xyzw": [0.9897581679360363, 0.10157301779821938, -0.09159122493419554, 0.04089912681607255], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 15, "position_m": [0.3880934417247772, 0.13108275830745697, 0.563848078250885]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 34, "feedback_step": 35}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4395184814929962, 0.06595487892627716, 0.5626255869865417], "quaternion_xyzw": [0.9940611955362882, 0.0723707857761001, -0.07361237175007634, 0.03443875172597756]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197], "quaternion_xyzw": [0.9936075532973353, 0.07649091283676243, -0.07534383516973464, 0.03487802726355907]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00035_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00035_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02903808280825615, "orientation_residual_rad": 0.009027115028406892, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 35, EEF displacement is 5.03 cm; remaining target position residual is 2.90 cm and orientation residual is 0.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 35, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05033183241197449, "position_residual_m": 0.02903808280825615, "orientation_residual_rad": 0.009027115028406892}, "provenance": {"observation_step": 30, "target_command_step": 34, "feedback_step": 35, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 3, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197], "quaternion_xyzw": [0.9936075532973353, 0.07649091283676243, -0.07534383516973464, 0.03487802726355907]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00035_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00035_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4036218225955963, 0.11573217809200287, 0.5655808448791504], "quaternion_xyzw": [0.9907486181001497, 0.10417981378470789, -0.08002408503465096, 0.034057127694417454]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 30, "eef_pose": {"position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587], "quaternion_xyzw": [0.9897581679360363, 0.10157301779821938, -0.09159122493419554, 0.04089912681607255]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00030_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00030_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00030_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.016881579533219337, "orientation_residual_rad": 0.027451121059682528, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4395184814929962, 0.06595487892627716, 0.5626255869865417], "quaternion_xyzw": [0.9940611955362882, 0.0723707857761001, -0.07361237175007634, 0.03443875172597756]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197], "quaternion_xyzw": [0.9936075532973353, 0.07649091283676243, -0.07534383516973464, 0.03487802726355907]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00035_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00035_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02903808280825615, "orientation_residual_rad": 0.009027115028406892, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 3, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 35, recorded EEF XYZ is (0.417, 0.084, 0.562) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 30, EEF displacement is 5.03 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.78 cm of EEF translation (+X 4.97 cm, −Y 5.98 cm, +Z 0.01 cm), 5.3° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.04965689778327942, -0.059847958385944366, 0.00010311603546142578], "translation_norm_m": 0.0777662925266568, "orientation_delta_rad": 0.09297088700232137, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 35, "current_images": ["images/4f5d9d563b4f35c6/00035_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00035_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00035_wrist_image_left.jpg"], "current_position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197], "current_quaternion_xyzw": [0.9936075532973353, 0.07649091283676243, -0.07534383516973464, 0.03487802726355907], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 30, "position_m": [0.39131540060043335, 0.12727469205856323, 0.5650240182876587]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 38, "feedback_step": 39}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4664458632469177, 0.02415059506893158, 0.5617261528968811], "quaternion_xyzw": [0.9975090538471031, 0.03666354712853154, -0.05674927481553645, 0.020272928079630326]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145], "quaternion_xyzw": [0.9962921214226333, 0.04836016151212078, -0.06659976019858467, 0.025055448732788123]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00039_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00039_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.028274711221456528, "orientation_residual_rad": 0.032137320005133765, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 39, EEF displacement is 5.08 cm; remaining target position residual is 2.83 cm and orientation residual is 1.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 39, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05082329580764385, "position_residual_m": 0.028274711221456528, "orientation_residual_rad": 0.032137320005133765}, "provenance": {"observation_step": 35, "target_command_step": 38, "feedback_step": 39, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 4, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145], "quaternion_xyzw": [0.9962921214226333, 0.04836016151212078, -0.06659976019858467, 0.025055448732788123]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00039_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00039_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4395184814929962, 0.06595487892627716, 0.5626255869865417], "quaternion_xyzw": [0.9940611955362882, 0.0723707857761001, -0.07361237175007634, 0.03443875172597756]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197], "quaternion_xyzw": [0.9936075532973353, 0.07649091283676243, -0.07534383516973464, 0.03487802726355907]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00035_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00035_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02903808280825615, "orientation_residual_rad": 0.009027115028406892, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4664458632469177, 0.02415059506893158, 0.5617261528968811], "quaternion_xyzw": [0.9975090538471031, 0.03666354712853154, -0.05674927481553645, 0.020272928079630326]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145], "quaternion_xyzw": [0.9962921214226333, 0.04836016151212078, -0.06659976019858467, 0.025055448732788123]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00039_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00039_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.028274711221456528, "orientation_residual_rad": 0.032137320005133765, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 4, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 39, recorded EEF XYZ is (0.445, 0.042, 0.557) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 35, EEF displacement is 5.08 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.29 cm of EEF translation (+X 4.92 cm, −Y 6.67 cm, +Z 0.33 cm), 10.2° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.04919081926345825, -0.0666833184659481, 0.00331193208694458], "translation_norm_m": 0.0829299135149061, "orientation_delta_rad": 0.17811936603342116, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 39, "current_images": ["images/4f5d9d563b4f35c6/00039_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00039_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00039_wrist_image_left.jpg"], "current_position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145], "current_quaternion_xyzw": [0.9962921214226333, 0.04836016151212078, -0.06659976019858467, 0.025055448732788123], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 35, "position_m": [0.4167889654636383, 0.08399855345487595, 0.5616230368614197]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 43, "feedback_step": 44}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49446913599967957, -0.024480503052473068, 0.5599871873855591], "quaternion_xyzw": [0.9995182482936255, -0.023634432105287925, -0.02008049777381775, 0.0012077070252224755]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 44, "eef_pose": {"position_m": [0.4768153429031372, -0.010010113008320332, 0.5585765838623047], "quaternion_xyzw": [0.9993095879262297, -0.0037080983860277054, -0.034826550661099395, 0.012397937494534468]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00044_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00044_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00044_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.022870033979415894, "orientation_residual_rad": 0.054399090351865735, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 44, EEF displacement is 6.10 cm; remaining target position residual is 2.29 cm and orientation residual is 3.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 44, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06102777207255209, "position_residual_m": 0.022870033979415894, "orientation_residual_rad": 0.054399090351865735}, "provenance": {"observation_step": 39, "target_command_step": 43, "feedback_step": 44, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 5, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 44, "eef_pose": {"position_m": [0.4768153429031372, -0.010010113008320332, 0.5585765838623047], "quaternion_xyzw": [0.9993095879262297, -0.0037080983860277054, -0.034826550661099395, 0.012397937494534468]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00044_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00044_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00044_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4664458632469177, 0.02415059506893158, 0.5617261528968811], "quaternion_xyzw": [0.9975090538471031, 0.03666354712853154, -0.05674927481553645, 0.020272928079630326]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145], "quaternion_xyzw": [0.9962921214226333, 0.04836016151212078, -0.06659976019858467, 0.025055448732788123]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00039_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00039_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.028274711221456528, "orientation_residual_rad": 0.032137320005133765, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49446913599967957, -0.024480503052473068, 0.5599871873855591], "quaternion_xyzw": [0.9995182482936255, -0.023634432105287925, -0.02008049777381775, 0.0012077070252224755]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 44, "eef_pose": {"position_m": [0.4768153429031372, -0.010010113008320332, 0.5585765838623047], "quaternion_xyzw": [0.9993095879262297, -0.0037080983860277054, -0.034826550661099395, 0.012397937494534468]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00044_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00044_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00044_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.022870033979415894, "orientation_residual_rad": 0.054399090351865735, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 5, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 44, recorded EEF XYZ is (0.477, -0.010, 0.559) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 39, EEF displacement is 6.10 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.05 cm of EEF translation (+X 1.61 cm, −Y 6.86 cm, +Z 0.10 cm), 11.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.016112804412841797, -0.06857687514275312, 0.0009657144546508789], "translation_norm_m": 0.07045099626548348, "orientation_delta_rad": 0.19221249062085924, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 44, "current_images": ["images/4f5d9d563b4f35c6/00044_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00044_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00044_wrist_image_left.jpg"], "current_position_m": [0.4768153429031372, -0.010010113008320332, 0.5585765838623047], "current_quaternion_xyzw": [0.9993095879262297, -0.0037080983860277054, -0.034826550661099395, 0.012397937494534468], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 39, "position_m": [0.4452783167362213, 0.04220281541347504, 0.5566752552986145]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 48, "feedback_step": 49}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.492928147315979, -0.07858698815107346, 0.5595422983169556], "quaternion_xyzw": [-0.9966416256938415, 0.07126215622351874, -0.009989431267861084, 0.039081789719204243]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 49, "eef_pose": {"position_m": [0.4930667281150818, -0.05828750506043434, 0.5567278265953064], "quaternion_xyzw": [-0.9984033311475458, 0.055307056311996054, 0.00615026538611096, 0.00970010882754878]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00049_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00049_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00049_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.020494133234024048, "orientation_residual_rad": 0.07433978370911795, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 49, EEF displacement is 5.10 cm; remaining target position residual is 2.05 cm and orientation residual is 4.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 49, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0509728556007294, "position_residual_m": 0.020494133234024048, "orientation_residual_rad": 0.07433978370911795}, "provenance": {"observation_step": 44, "target_command_step": 48, "feedback_step": 49, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 49, recorded EEF XYZ is (0.493, -0.058, 0.557) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 44, EEF displacement is 5.10 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.34 cm of EEF translation (−X 2.89 cm, −Y 7.76 cm, +Z 0.97 cm), 12.2° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.02894735336303711, -0.07764103636145592, 0.009705722332000732], "translation_norm_m": 0.08342829759734616, "orientation_delta_rad": 0.21305380469473395, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 49, "current_images": ["images/4f5d9d563b4f35c6/00049_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00049_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00049_wrist_image_left.jpg"], "current_position_m": [0.4930667281150818, -0.05828750506043434, 0.5567278265953064], "current_quaternion_xyzw": [-0.9984033311475458, 0.055307056311996054, 0.00615026538611096, 0.00970010882754878], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 44, "position_m": [0.4768153429031372, -0.010010113008320332, 0.5585765838623047]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 52, "feedback_step": 53}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4641193747520447, -0.13592854142189026, 0.5664335489273071], "quaternion_xyzw": [-0.9893279258907615, 0.10537275825322195, -0.029127255241204318, 0.09632465869602572]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788], "quaternion_xyzw": [-0.993440232396215, 0.09860826869855344, -0.01038012712260655, 0.05696636693476886]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00053_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00053_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03138107806444168, "orientation_residual_rad": 0.08862326083342859, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 53, EEF displacement is 5.40 cm; remaining target position residual is 3.14 cm and orientation residual is 5.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 53, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05401247695731863, "position_residual_m": 0.03138107806444168, "orientation_residual_rad": 0.08862326083342859}, "provenance": {"observation_step": 49, "target_command_step": 52, "feedback_step": 53, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 7, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 53, "eef_pose": {"position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788], "quaternion_xyzw": [-0.993440232396215, 0.09860826869855344, -0.01038012712260655, 0.05696636693476886]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00053_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00053_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.492928147315979, -0.07858698815107346, 0.5595422983169556], "quaternion_xyzw": [-0.9966416256938415, 0.07126215622351874, -0.009989431267861084, 0.039081789719204243]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 49, "eef_pose": {"position_m": [0.4930667281150818, -0.05828750506043434, 0.5567278265953064], "quaternion_xyzw": [-0.9984033311475458, 0.055307056311996054, 0.00615026538611096, 0.00970010882754878]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00049_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00049_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00049_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.020494133234024048, "orientation_residual_rad": 0.07433978370911795, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4641193747520447, -0.13592854142189026, 0.5664335489273071], "quaternion_xyzw": [-0.9893279258907615, 0.10537275825322195, -0.029127255241204318, 0.09632465869602572]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788], "quaternion_xyzw": [-0.993440232396215, 0.09860826869855344, -0.01038012712260655, 0.05696636693476886]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00053_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00053_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03138107806444168, "orientation_residual_rad": 0.08862326083342859, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 7, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 53, recorded EEF XYZ is (0.483, -0.111, 0.562) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 49, EEF displacement is 5.40 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.04 cm of EEF translation (−X 4.89 cm, −Y 7.57 cm, +Z 0.76 cm), 11.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.04886627197265625, -0.07565852999687195, 0.007628142833709717], "translation_norm_m": 0.09038979068946149, "orientation_delta_rad": 0.19178630307919445, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 53, "current_images": ["images/4f5d9d563b4f35c6/00053_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00053_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00053_wrist_image_left.jpg"], "current_position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788], "current_quaternion_xyzw": [-0.993440232396215, 0.09860826869855344, -0.01038012712260655, 0.05696636693476886], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 49, "position_m": [0.4930667281150818, -0.05828750506043434, 0.5567278265953064]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 55, "feedback_step": 56}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4338851273059845, -0.1866598278284073, 0.5700302720069885], "quaternion_xyzw": [-0.9806785905106928, 0.12984760267128329, -0.04964024995992745, 0.1376406472608929]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 56, "eef_pose": {"position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916], "quaternion_xyzw": [-0.9872092143678586, 0.12176732236162723, -0.03146767492113995, 0.09798199685213958]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00056_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00056_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00056_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03613497316837311, "orientation_residual_rad": 0.08969566569446973, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 56, EEF displacement is 5.55 cm; remaining target position residual is 3.61 cm and orientation residual is 5.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 56, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.055543257491652225, "position_residual_m": 0.03613497316837311, "orientation_residual_rad": 0.08969566569446973}, "provenance": {"observation_step": 53, "target_command_step": 55, "feedback_step": 56, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 8, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 56, "eef_pose": {"position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916], "quaternion_xyzw": [-0.9872092143678586, 0.12176732236162723, -0.03146767492113995, 0.09798199685213958]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00056_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00056_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00056_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4641193747520447, -0.13592854142189026, 0.5664335489273071], "quaternion_xyzw": [-0.9893279258907615, 0.10537275825322195, -0.029127255241204318, 0.09632465869602572]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 53, "eef_pose": {"position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788], "quaternion_xyzw": [-0.993440232396215, 0.09860826869855344, -0.01038012712260655, 0.05696636693476886]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00053_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00053_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00053_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03138107806444168, "orientation_residual_rad": 0.08862326083342859, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4338851273059845, -0.1866598278284073, 0.5700302720069885], "quaternion_xyzw": [-0.9806785905106928, 0.12984760267128329, -0.04964024995992745, 0.1376406472608929]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 56, "eef_pose": {"position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916], "quaternion_xyzw": [-0.9872092143678586, 0.12176732236162723, -0.03146767492113995, 0.09798199685213958]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00056_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00056_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00056_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03613497316837311, "orientation_residual_rad": 0.08969566569446973, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 8, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 56, recorded EEF XYZ is (0.459, -0.161, 0.570) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 53, EEF displacement is 5.55 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.54 cm of EEF translation (−X 5.67 cm, −Y 7.62 cm, −Z 0.87 cm), 10.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.056719303131103516, -0.0762474536895752, -0.008733749389648438], "translation_norm_m": 0.09543077030089984, "orientation_delta_rad": 0.18606482545177855, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 56, "current_images": ["images/4f5d9d563b4f35c6/00056_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00056_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00056_wrist_image_left.jpg"], "current_position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916], "current_quaternion_xyzw": [-0.9872092143678586, 0.12176732236162723, -0.03146767492113995, 0.09798199685213958], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 53, "position_m": [0.48275139927864075, -0.11100129783153534, 0.5624021291732788]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 58, "feedback_step": 59}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4021332859992981, -0.23678548634052277, 0.5614151358604431], "quaternion_xyzw": [-0.9693388506069583, 0.16315168219535267, -0.06757772932821826, 0.17087121407554184]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 59, "eef_pose": {"position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667], "quaternion_xyzw": [-0.9779012052548604, 0.15001490501217296, -0.052530072988313505, 0.13581366818962975]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00059_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00059_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00059_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03340170532464981, "orientation_residual_rad": 0.08250075364795259, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 59, EEF displacement is 6.30 cm; remaining target position residual is 3.34 cm and orientation residual is 4.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 59, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0630425380348832, "position_residual_m": 0.03340170532464981, "orientation_residual_rad": 0.08250075364795259}, "provenance": {"observation_step": 56, "target_command_step": 58, "feedback_step": 59, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 9, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 59, "eef_pose": {"position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667], "quaternion_xyzw": [-0.9779012052548604, 0.15001490501217296, -0.052530072988313505, 0.13581366818962975]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00059_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00059_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00059_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4338851273059845, -0.1866598278284073, 0.5700302720069885], "quaternion_xyzw": [-0.9806785905106928, 0.12984760267128329, -0.04964024995992745, 0.1376406472608929]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 56, "eef_pose": {"position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916], "quaternion_xyzw": [-0.9872092143678586, 0.12176732236162723, -0.03146767492113995, 0.09798199685213958]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00056_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00056_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00056_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03613497316837311, "orientation_residual_rad": 0.08969566569446973, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4021332859992981, -0.23678548634052277, 0.5614151358604431], "quaternion_xyzw": [-0.9693388506069583, 0.16315168219535267, -0.06757772932821826, 0.17087121407554184]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 59, "eef_pose": {"position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667], "quaternion_xyzw": [-0.9779012052548604, 0.15001490501217296, -0.052530072988313505, 0.13581366818962975]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00059_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00059_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00059_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03340170532464981, "orientation_residual_rad": 0.08250075364795259, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 9, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 59, recorded EEF XYZ is (0.424, -0.213, 0.570) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 56, EEF displacement is 6.30 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.94 cm of EEF translation (−X 4.41 cm, −Y 6.19 cm, −Z 2.28 cm), 11.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.044085949659347534, -0.061911940574645996, -0.022825419902801514], "translation_norm_m": 0.07935779190995822, "orientation_delta_rad": 0.1925498241105722, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 59, "current_images": ["images/4f5d9d563b4f35c6/00059_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00059_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00059_wrist_image_left.jpg"], "current_position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667], "current_quaternion_xyzw": [-0.9779012052548604, 0.15001490501217296, -0.052530072988313505, 0.13581366818962975], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 56, "position_m": [0.4588525891304016, -0.16053803265094757, 0.5701488852500916]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 61, "feedback_step": 62}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3800792098045349, -0.275091290473938, 0.5471349358558655], "quaternion_xyzw": [-0.9535078054803873, 0.20788851336650266, -0.07047394979614587, 0.206491291095706]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283], "quaternion_xyzw": [-0.9661229762647755, 0.18306197092847692, -0.0656239353429748, 0.16967088330993726]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00062_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00062_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.02265816554427147, "orientation_residual_rad": 0.09284722595468274, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 62, EEF displacement is 5.74 cm; remaining target position residual is 2.27 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 62, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05737990026189093, "position_residual_m": 0.02265816554427147, "orientation_residual_rad": 0.09284722595468274}, "provenance": {"observation_step": 59, "target_command_step": 61, "feedback_step": 62, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 10, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 62, "eef_pose": {"position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283], "quaternion_xyzw": [-0.9661229762647755, 0.18306197092847692, -0.0656239353429748, 0.16967088330993726]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00062_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00062_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4021332859992981, -0.23678548634052277, 0.5614151358604431], "quaternion_xyzw": [-0.9693388506069583, 0.16315168219535267, -0.06757772932821826, 0.17087121407554184]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 59, "eef_pose": {"position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667], "quaternion_xyzw": [-0.9779012052548604, 0.15001490501217296, -0.052530072988313505, 0.13581366818962975]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00059_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00059_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00059_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03340170532464981, "orientation_residual_rad": 0.08250075364795259, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3800792098045349, -0.275091290473938, 0.5471349358558655], "quaternion_xyzw": [-0.9535078054803873, 0.20788851336650266, -0.07047394979614587, 0.206491291095706]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283], "quaternion_xyzw": [-0.9661229762647755, 0.18306197092847692, -0.0656239353429748, 0.16967088330993726]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00062_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00062_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.02265816554427147, "orientation_residual_rad": 0.09284722595468274, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 10, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 62, recorded EEF XYZ is (0.391, -0.259, 0.558) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 59, EEF displacement is 5.74 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.23 cm of EEF translation (−X 0.90 cm, −Y 3.49 cm, −Z 3.78 cm), 17.1° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.009048819541931152, -0.034917235374450684, -0.0378459095954895], "translation_norm_m": 0.05228199818682516, "orientation_delta_rad": 0.29792994271029355, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 62, "current_images": ["images/4f5d9d563b4f35c6/00062_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00062_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00062_wrist_image_left.jpg"], "current_position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283], "current_quaternion_xyzw": [-0.9661229762647755, 0.18306197092847692, -0.0656239353429748, 0.16967088330993726], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 59, "position_m": [0.42416515946388245, -0.213179349899292, 0.569960355758667]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 65, "feedback_step": 66}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3823893666267395, -0.2936829924583435, 0.5201445817947388], "quaternion_xyzw": [-0.9193969340681809, 0.292890270360044, -0.051466689794735246, 0.25744076405266886]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328], "quaternion_xyzw": [-0.9403180334242285, 0.24801052582034444, -0.06304286428843332, 0.22431757033682836]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00066_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00066_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.015482848510146141, "orientation_residual_rad": 0.12139470496997226, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 66, EEF displacement is 4.56 cm; remaining target position residual is 1.55 cm and orientation residual is 7.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 66, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04562899369831326, "position_residual_m": 0.015482848510146141, "orientation_residual_rad": 0.12139470496997226}, "provenance": {"observation_step": 62, "target_command_step": 65, "feedback_step": 66, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 11, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 66, "eef_pose": {"position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328], "quaternion_xyzw": [-0.9403180334242285, 0.24801052582034444, -0.06304286428843332, 0.22431757033682836]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00066_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00066_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3800792098045349, -0.275091290473938, 0.5471349358558655], "quaternion_xyzw": [-0.9535078054803873, 0.20788851336650266, -0.07047394979614587, 0.206491291095706]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283], "quaternion_xyzw": [-0.9661229762647755, 0.18306197092847692, -0.0656239353429748, 0.16967088330993726]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00062_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00062_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.02265816554427147, "orientation_residual_rad": 0.09284722595468274, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3823893666267395, -0.2936829924583435, 0.5201445817947388], "quaternion_xyzw": [-0.9193969340681809, 0.292890270360044, -0.051466689794735246, 0.25744076405266886]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328], "quaternion_xyzw": [-0.9403180334242285, 0.24801052582034444, -0.06304286428843332, 0.22431757033682836]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00066_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00066_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.015482848510146141, "orientation_residual_rad": 0.12139470496997226, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 11, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 66, recorded EEF XYZ is (0.372, -0.290, 0.531) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 62, EEF displacement is 4.56 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.89 cm of EEF translation (+X 4.31 cm, +Y 0.36 cm, −Z 2.30 cm), 18.8° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.04305732250213623, 0.0036330819129943848, -0.02295219898223877], "translation_norm_m": 0.048927862648594986, "orientation_delta_rad": 0.3273143657848203, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 66, "current_images": ["images/4f5d9d563b4f35c6/00066_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00066_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00066_wrist_image_left.jpg"], "current_position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328], "current_quaternion_xyzw": [-0.9403180334242285, 0.24801052582034444, -0.06304286428843332, 0.22431757033682836], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 62, "position_m": [0.39143818616867065, -0.2587657570838928, 0.5579904913902283]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 69, "feedback_step": 70}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41497477889060974, -0.28621765971183777, 0.507933497428894], "quaternion_xyzw": [-0.8767700488198601, 0.37222885045203224, -0.030370985774783168, 0.302981134077102]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 70, "eef_pose": {"position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702], "quaternion_xyzw": [-0.9051146517115435, 0.3220259531661499, -0.03892870092763108, 0.2748659836877075]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00070_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00070_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00070_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.022492872551083565, "orientation_residual_rad": 0.12944351075387175, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 70, EEF displacement is 3.17 cm; remaining target position residual is 2.25 cm and orientation residual is 7.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 70, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03171699389374474, "position_residual_m": 0.022492872551083565, "orientation_residual_rad": 0.12944351075387175}, "provenance": {"observation_step": 66, "target_command_step": 69, "feedback_step": 70, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 12, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 70, "eef_pose": {"position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702], "quaternion_xyzw": [-0.9051146517115435, 0.3220259531661499, -0.03892870092763108, 0.2748659836877075]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00070_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00070_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00070_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3823893666267395, -0.2936829924583435, 0.5201445817947388], "quaternion_xyzw": [-0.9193969340681809, 0.292890270360044, -0.051466689794735246, 0.25744076405266886]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 66, "eef_pose": {"position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328], "quaternion_xyzw": [-0.9403180334242285, 0.24801052582034444, -0.06304286428843332, 0.22431757033682836]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00066_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00066_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00066_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.015482848510146141, "orientation_residual_rad": 0.12139470496997226, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41497477889060974, -0.28621765971183777, 0.507933497428894], "quaternion_xyzw": [-0.8767700488198601, 0.37222885045203224, -0.030370985774783168, 0.302981134077102]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 70, "eef_pose": {"position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702], "quaternion_xyzw": [-0.9051146517115435, 0.3220259531661499, -0.03892870092763108, 0.2748659836877075]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00070_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00070_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00070_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.022492872551083565, "orientation_residual_rad": 0.12944351075387175, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 12, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 70, recorded EEF XYZ is (0.393, -0.286, 0.507) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 66, EEF displacement is 3.17 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.13 cm of EEF translation (+X 6.00 cm, +Y 1.24 cm, +Z 0.17 cm), 20.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.060022443532943726, 0.012364804744720459, 0.0016865134239196777], "translation_norm_m": 0.061306006651628685, "orientation_delta_rad": 0.3605119882514606, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 70, "current_images": ["images/4f5d9d563b4f35c6/00070_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00070_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00070_wrist_image_left.jpg"], "current_position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702], "current_quaternion_xyzw": [-0.9051146517115435, 0.3220259531661499, -0.03892870092763108, 0.2748659836877075], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 66, "position_m": [0.3719174563884735, -0.28985074162483215, 0.5308856964111328]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 73, "feedback_step": 74}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45252272486686707, -0.2735435664653778, 0.5087652206420898], "quaternion_xyzw": [-0.816736426483275, 0.4622876378527401, -0.028034410014023937, 0.34415958710898825]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 74, "eef_pose": {"position_m": [0.42844444513320923, -0.27295488119125366, 0.5033987164497375], "quaternion_xyzw": [-0.8550016371124234, 0.40272262124054287, -0.02535587712405027, 0.32579713069867916]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00074_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00074_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00074_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.024676090106368065, "orientation_residual_rad": 0.14640989957561512, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 74, EEF displacement is 3.84 cm; remaining target position residual is 2.47 cm and orientation residual is 8.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 74, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03838382663250175, "position_residual_m": 0.024676090106368065, "orientation_residual_rad": 0.14640989957561512}, "provenance": {"observation_step": 70, "target_command_step": 73, "feedback_step": 74, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 13, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 74, "eef_pose": {"position_m": [0.42844444513320923, -0.27295488119125366, 0.5033987164497375], "quaternion_xyzw": [-0.8550016371124234, 0.40272262124054287, -0.02535587712405027, 0.32579713069867916]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00074_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00074_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00074_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41497477889060974, -0.28621765971183777, 0.507933497428894], "quaternion_xyzw": [-0.8767700488198601, 0.37222885045203224, -0.030370985774783168, 0.302981134077102]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 70, "eef_pose": {"position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702], "quaternion_xyzw": [-0.9051146517115435, 0.3220259531661499, -0.03892870092763108, 0.2748659836877075]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00070_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00070_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00070_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.022492872551083565, "orientation_residual_rad": 0.12944351075387175, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45252272486686707, -0.2735435664653778, 0.5087652206420898], "quaternion_xyzw": [-0.816736426483275, 0.4622876378527401, -0.028034410014023937, 0.34415958710898825]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 74, "eef_pose": {"position_m": [0.42844444513320923, -0.27295488119125366, 0.5033987164497375], "quaternion_xyzw": [-0.8550016371124234, 0.40272262124054287, -0.02535587712405027, 0.32579713069867916]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00074_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00074_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00074_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.024676090106368065, "orientation_residual_rad": 0.14640989957561512, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 13, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 74, recorded EEF XYZ is (0.428, -0.273, 0.503) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 70, EEF displacement is 3.84 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.65 cm of EEF translation (+X 4.52 cm, +Y 0.17 cm, +Z 1.12 cm), 20.9° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.04515254497528076, 0.0017129182815551758, 0.011189639568328857], "translation_norm_m": 0.04654991343121004, "orientation_delta_rad": 0.3647101051445035, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 74, "current_images": ["images/4f5d9d563b4f35c6/00074_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00074_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00074_wrist_image_left.jpg"], "current_position_m": [0.42844444513320923, -0.27295488119125366, 0.5033987164497375], "current_quaternion_xyzw": [-0.8550016371124234, 0.40272262124054287, -0.02535587712405027, 0.32579713069867916], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 70, "position_m": [0.39250028133392334, -0.28590837121009827, 0.5070787072181702]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 77, "feedback_step": 78}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47359699010849, -0.2712419629096985, 0.5145883560180664], "quaternion_xyzw": [-0.7537263930929508, 0.5502539935318934, -0.03721451359061654, 0.3573963443230886]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 78, "eef_pose": {"position_m": [0.4614001512527466, -0.2667402923107147, 0.5089879631996155], "quaternion_xyzw": [-0.7957117259602351, 0.49442623352325427, -0.031124294019879324, 0.3484491743355927]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00078_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00078_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00078_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.014155998826026917, "orientation_residual_rad": 0.14140341605825577, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 78, EEF displacement is 3.40 cm; remaining target position residual is 1.42 cm and orientation residual is 8.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 78, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.033999108223929216, "position_residual_m": 0.014155998826026917, "orientation_residual_rad": 0.14140341605825577}, "provenance": {"observation_step": 74, "target_command_step": 77, "feedback_step": 78, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 78, recorded EEF XYZ is (0.461, -0.267, 0.509) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 74, EEF displacement is 3.40 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.27 cm of EEF translation (+X 0.76 cm, −Y 2.12 cm, +Z 0.29 cm), 17.3° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.007573127746582031, -0.02118396759033203, 0.0029144883155822754], "translation_norm_m": 0.022684950713544743, "orientation_delta_rad": 0.3027228427168968, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 78, "current_images": ["images/4f5d9d563b4f35c6/00078_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00078_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00078_wrist_image_left.jpg"], "current_position_m": [0.4614001512527466, -0.2667402923107147, 0.5089879631996155], "current_quaternion_xyzw": [-0.7957117259602351, 0.49442623352325427, -0.031124294019879324, 0.3484491743355927], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 74, "position_m": [0.42844444513320923, -0.27295488119125366, 0.5033987164497375]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 81, "feedback_step": 82}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4689732789993286, -0.28792425990104675, 0.5119024515151978], "quaternion_xyzw": [-0.7027762416366051, 0.613032864446002, -0.038360592362929526, 0.3589216157517165]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 82, "eef_pose": {"position_m": [0.46796679496765137, -0.2770231068134308, 0.5136042237281799], "quaternion_xyzw": [-0.7398031285896385, 0.5735917199035329, -0.03616963971509361, 0.34982227909321395]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00082_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00082_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00082_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.011078997515141964, "orientation_residual_rad": 0.109817118133996, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 82, EEF displacement is 1.30 cm; remaining target position residual is 1.11 cm and orientation residual is 6.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 82, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.013044805289591274, "position_residual_m": 0.011078997515141964, "orientation_residual_rad": 0.109817118133996}, "provenance": {"observation_step": 78, "target_command_step": 81, "feedback_step": 82, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 15, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 82, "eef_pose": {"position_m": [0.46796679496765137, -0.2770231068134308, 0.5136042237281799], "quaternion_xyzw": [-0.7398031285896385, 0.5735917199035329, -0.03616963971509361, 0.34982227909321395]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00082_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00082_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00082_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47359699010849, -0.2712419629096985, 0.5145883560180664], "quaternion_xyzw": [-0.7537263930929508, 0.5502539935318934, -0.03721451359061654, 0.3573963443230886]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 78, "eef_pose": {"position_m": [0.4614001512527466, -0.2667402923107147, 0.5089879631996155], "quaternion_xyzw": [-0.7957117259602351, 0.49442623352325427, -0.031124294019879324, 0.3484491743355927]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00078_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00078_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00078_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.014155998826026917, "orientation_residual_rad": 0.14140341605825577, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4689732789993286, -0.28792425990104675, 0.5119024515151978], "quaternion_xyzw": [-0.7027762416366051, 0.613032864446002, -0.038360592362929526, 0.3589216157517165]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 82, "eef_pose": {"position_m": [0.46796679496765137, -0.2770231068134308, 0.5136042237281799], "quaternion_xyzw": [-0.7398031285896385, 0.5735917199035329, -0.03616963971509361, 0.34982227909321395]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00082_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00082_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00082_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.011078997515141964, "orientation_residual_rad": 0.109817118133996, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 15, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 82, recorded EEF XYZ is (0.468, -0.277, 0.514) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 78, EEF displacement is 1.30 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.93 cm of EEF translation (−X 1.40 cm, −Y 4.67 cm, −Z 3.37 cm), 17.3° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.014040976762771606, -0.04670417308807373, -0.03373554348945618], "translation_norm_m": 0.05930021675190093, "orientation_delta_rad": 0.3025510396967333, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 82, "current_images": ["images/4f5d9d563b4f35c6/00082_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00082_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00082_wrist_image_left.jpg"], "current_position_m": [0.46796679496765137, -0.2770231068134308, 0.5136042237281799], "current_quaternion_xyzw": [-0.7398031285896385, 0.5735917199035329, -0.03616963971509361, 0.34982227909321395], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 78, "position_m": [0.4614001512527466, -0.2667402923107147, 0.5089879631996155]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 87, "feedback_step": 88}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45392581820487976, -0.3237272799015045, 0.47986868023872375], "quaternion_xyzw": [-0.6308847516328151, 0.6715592138315507, -0.035413132878980236, 0.3869606730597392]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 88, "eef_pose": {"position_m": [0.45428529381752014, -0.3142285645008087, 0.4931866526603699], "quaternion_xyzw": [-0.6705276226622345, 0.6460593092920773, -0.027995405144014968, 0.36361563967299126]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00088_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00088_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00088_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.016362249851226807, "orientation_residual_rad": 0.10625402443095952, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 88, EEF displacement is 4.46 cm; remaining target position residual is 1.64 cm and orientation residual is 6.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 88, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04459043354529518, "position_residual_m": 0.016362249851226807, "orientation_residual_rad": 0.10625402443095952}, "provenance": {"observation_step": 82, "target_command_step": 87, "feedback_step": 88, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 88, recorded EEF XYZ is (0.454, -0.314, 0.493) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 82, EEF displacement is 4.46 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.75 cm of EEF translation (+X 1.31 cm, −Y 2.22 cm, −Z 5.14 cm), 16.2° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.013133734464645386, -0.022208809852600098, -0.05142498016357422], "translation_norm_m": 0.05753481381633874, "orientation_delta_rad": 0.28246172602982833, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 88, "current_images": ["images/4f5d9d563b4f35c6/00088_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00088_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00088_wrist_image_left.jpg"], "current_position_m": [0.45428529381752014, -0.3142285645008087, 0.4931866526603699], "current_quaternion_xyzw": [-0.6705276226622345, 0.6460593092920773, -0.027995405144014968, 0.36361563967299126], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 82, "position_m": [0.46796679496765137, -0.2770231068134308, 0.5136042237281799]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 92, "feedback_step": 93}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4674190282821655, -0.3364373743534088, 0.44176167249679565], "quaternion_xyzw": [-0.563600248906346, 0.6997909088551817, -0.04366131906320894, 0.4367392042558172]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 93, "eef_pose": {"position_m": [0.45542261004447937, -0.3346453607082367, 0.4549885392189026], "quaternion_xyzw": [-0.5963906413478024, 0.6899556914659456, -0.03172027707373511, 0.40899042867635865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00093_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00093_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.017946459352970123, "orientation_residual_rad": 0.09132111632418621, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 93, EEF displacement is 4.33 cm; remaining target position residual is 1.79 cm and orientation residual is 5.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 93, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.043327069206939836, "position_residual_m": 0.017946459352970123, "orientation_residual_rad": 0.09132111632418621}, "provenance": {"observation_step": 88, "target_command_step": 92, "feedback_step": 93, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 17, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 93, "eef_pose": {"position_m": [0.45542261004447937, -0.3346453607082367, 0.4549885392189026], "quaternion_xyzw": [-0.5963906413478024, 0.6899556914659456, -0.03172027707373511, 0.40899042867635865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00093_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00093_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45392581820487976, -0.3237272799015045, 0.47986868023872375], "quaternion_xyzw": [-0.6308847516328151, 0.6715592138315507, -0.035413132878980236, 0.3869606730597392]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 88, "eef_pose": {"position_m": [0.45428529381752014, -0.3142285645008087, 0.4931866526603699], "quaternion_xyzw": [-0.6705276226622345, 0.6460593092920773, -0.027995405144014968, 0.36361563967299126]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00088_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00088_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00088_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.016362249851226807, "orientation_residual_rad": 0.10625402443095952, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4674190282821655, -0.3364373743534088, 0.44176167249679565], "quaternion_xyzw": [-0.563600248906346, 0.6997909088551817, -0.04366131906320894, 0.4367392042558172]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 93, "eef_pose": {"position_m": [0.45542261004447937, -0.3346453607082367, 0.4549885392189026], "quaternion_xyzw": [-0.5963906413478024, 0.6899556914659456, -0.03172027707373511, 0.40899042867635865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00093_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00093_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00093_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.017946459352970123, "orientation_residual_rad": 0.09132111632418621, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 17, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 93, recorded EEF XYZ is (0.455, -0.335, 0.455) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 88, EEF displacement is 4.33 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.74 cm of EEF translation (+X 6.74 cm, −Y 0.02 cm, −Z 0.05 cm), 11.3° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.06741192936897278, -0.00020968914031982422, -0.00046119093894958496], "translation_norm_m": 0.06741383306017476, "orientation_delta_rad": 0.19673781645420327, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 93, "current_images": ["images/4f5d9d563b4f35c6/00093_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00093_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00093_wrist_image_left.jpg"], "current_position_m": [0.45542261004447937, -0.3346453607082367, 0.4549885392189026], "current_quaternion_xyzw": [-0.5963906413478024, 0.6899556914659456, -0.03172027707373511, 0.40899042867635865], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 88, "position_m": [0.45428529381752014, -0.3142285645008087, 0.4931866526603699]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 102, "feedback_step": 103}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5228345394134521, -0.3348550498485565, 0.454527348279953], "quaternion_xyzw": [-0.5383481435144262, 0.6942868902361261, -0.08152432365913563, 0.47063868845722906]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 103, "eef_pose": {"position_m": [0.5078803896903992, -0.3313145637512207, 0.450806587934494], "quaternion_xyzw": [-0.5426009362110354, 0.695776622088355, -0.061718154057251215, 0.4665511607937459]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00103_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00103_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00103_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01581156812608242, "orientation_residual_rad": 0.04143974625107073, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 103, EEF displacement is 5.27 cm; remaining target position residual is 1.58 cm and orientation residual is 2.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 103, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05272951327571601, "position_residual_m": 0.01581156812608242, "orientation_residual_rad": 0.04143974625107073}, "provenance": {"observation_step": 93, "target_command_step": 102, "feedback_step": 103, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 103, recorded EEF XYZ is (0.508, -0.331, 0.451) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 93, EEF displacement is 5.27 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.26 cm of EEF translation (+X 4.16 cm, −Y 0.16 cm, −Z 3.21 cm), 2.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.041589319705963135, -0.0016495287418365479, -0.03211817145347595], "translation_norm_m": 0.05257346665562236, "orientation_delta_rad": 0.04128776747028835, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 103, "current_images": ["images/4f5d9d563b4f35c6/00103_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00103_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00103_wrist_image_left.jpg"], "current_position_m": [0.5078803896903992, -0.3313145637512207, 0.450806587934494], "current_quaternion_xyzw": [-0.5426009362110354, 0.695776622088355, -0.061718154057251215, 0.4665511607937459], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 93, "position_m": [0.45542261004447937, -0.3346453607082367, 0.4549885392189026]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 117, "feedback_step": 118}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5494697093963623, -0.33296409249305725, 0.41868841648101807], "quaternion_xyzw": [-0.5300703224690141, 0.6962717970997174, -0.0730178450068217, 0.47843435507045806]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106], "quaternion_xyzw": [-0.5324497749063587, 0.7028870569267842, -0.0586128354118289, 0.46798670700347583]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00118_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00118_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.012074531987309456, "orientation_residual_rad": 0.03826707600733713, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 118, EEF displacement is 4.26 cm; remaining target position residual is 1.21 cm and orientation residual is 2.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 118, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04260577554266026, "position_residual_m": 0.012074531987309456, "orientation_residual_rad": 0.03826707600733713}, "provenance": {"observation_step": 103, "target_command_step": 117, "feedback_step": 118, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 19, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 118, "eef_pose": {"position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106], "quaternion_xyzw": [-0.5324497749063587, 0.7028870569267842, -0.0586128354118289, 0.46798670700347583]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00118_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00118_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5228345394134521, -0.3348550498485565, 0.454527348279953], "quaternion_xyzw": [-0.5383481435144262, 0.6942868902361261, -0.08152432365913563, 0.47063868845722906]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 103, "eef_pose": {"position_m": [0.5078803896903992, -0.3313145637512207, 0.450806587934494], "quaternion_xyzw": [-0.5426009362110354, 0.695776622088355, -0.061718154057251215, 0.4665511607937459]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00103_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00103_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00103_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01581156812608242, "orientation_residual_rad": 0.04143974625107073, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5494697093963623, -0.33296409249305725, 0.41868841648101807], "quaternion_xyzw": [-0.5300703224690141, 0.6962717970997174, -0.0730178450068217, 0.47843435507045806]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106], "quaternion_xyzw": [-0.5324497749063587, 0.7028870569267842, -0.0586128354118289, 0.46798670700347583]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00118_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00118_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.012074531987309456, "orientation_residual_rad": 0.03826707600733713, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 19, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 118, recorded EEF XYZ is (0.537, -0.333, 0.420) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 103, EEF displacement is 4.26 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.33 cm of EEF translation (+X 0.01 cm, +Y 4.07 cm, −Z 1.49 cm), 6.9° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.00014340877532958984, 0.04067358374595642, -0.014872521162033081], "translation_norm_m": 0.043307653671508156, "orientation_delta_rad": 0.11972581950376937, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 118, "current_images": ["images/4f5d9d563b4f35c6/00118_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00118_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00118_wrist_image_left.jpg"], "current_position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106], "current_quaternion_xyzw": [-0.5324497749063587, 0.7028870569267842, -0.0586128354118289, 0.46798670700347583], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 103, "position_m": [0.5078803896903992, -0.3313145637512207, 0.450806587934494]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 132, "feedback_step": 133}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5376372933387756, -0.2923978269100189, 0.405352920293808], "quaternion_xyzw": [-0.5181315328610976, 0.6811852382646753, -0.03427488768348899, 0.5160926446865824]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132], "quaternion_xyzw": [-0.5090271472076352, 0.6985866192402994, -0.054538128721066434, 0.499893680035735]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00133_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00133_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03178758919239044, "orientation_residual_rad": 0.06507831309023356, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 133, EEF displacement is 1.54 cm; remaining target position residual is 3.18 cm and orientation residual is 3.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 133, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.015360562034647118, "position_residual_m": 0.03178758919239044, "orientation_residual_rad": 0.06507831309023356}, "provenance": {"observation_step": 118, "target_command_step": 132, "feedback_step": 133, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 20, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 133, "eef_pose": {"position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132], "quaternion_xyzw": [-0.5090271472076352, 0.6985866192402994, -0.054538128721066434, 0.499893680035735]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00133_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00133_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5494697093963623, -0.33296409249305725, 0.41868841648101807], "quaternion_xyzw": [-0.5300703224690141, 0.6962717970997174, -0.0730178450068217, 0.47843435507045806]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 118, "eef_pose": {"position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106], "quaternion_xyzw": [-0.5324497749063587, 0.7028870569267842, -0.0586128354118289, 0.46798670700347583]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00118_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00118_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00118_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.012074531987309456, "orientation_residual_rad": 0.03826707600733713, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5376372933387756, -0.2923978269100189, 0.405352920293808], "quaternion_xyzw": [-0.5181315328610976, 0.6811852382646753, -0.03427488768348899, 0.5160926446865824]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132], "quaternion_xyzw": [-0.5090271472076352, 0.6985866192402994, -0.054538128721066434, 0.499893680035735]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00133_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00133_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03178758919239044, "orientation_residual_rad": 0.06507831309023356, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 20, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 133, recorded EEF XYZ is (0.539, -0.324, 0.408) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 118, EEF displacement is 1.54 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.90 cm of EEF translation (−X 7.10 cm, +Y 5.37 cm, +Z 0.06 cm), 6.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.07102030515670776, 0.05369693040847778, 0.0005620718002319336], "translation_norm_m": 0.08903684633090625, "orientation_delta_rad": 0.11770909914026836, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 133, "current_images": ["images/4f5d9d563b4f35c6/00133_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00133_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00133_wrist_image_left.jpg"], "current_position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132], "current_quaternion_xyzw": [-0.5090271472076352, 0.6985866192402994, -0.054538128721066434, 0.499893680035735], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 118, "position_m": [0.537493884563446, -0.33307141065597534, 0.42022544145584106]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 140, "feedback_step": 141}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4678274989128113, -0.2703665494918823, 0.4084193706512451], "quaternion_xyzw": [-0.5146443160293899, 0.6809849462913515, -0.0027891721481906355, 0.5209538860800775]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 141, "eef_pose": {"position_m": [0.49580931663513184, -0.29815083742141724, 0.4043794870376587], "quaternion_xyzw": [-0.498157995372012, 0.6997720585303866, -0.023142284145934073, 0.5114900902574678]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00141_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00141_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.03963924199342728, "orientation_residual_rad": 0.06719146103644756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 141, EEF displacement is 5.04 cm; remaining target position residual is 3.96 cm and orientation residual is 3.8°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 141, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.050357438535836276, "position_residual_m": 0.03963924199342728, "orientation_residual_rad": 0.06719146103644756}, "provenance": {"observation_step": 133, "target_command_step": 140, "feedback_step": 141, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 21, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 141, "eef_pose": {"position_m": [0.49580931663513184, -0.29815083742141724, 0.4043794870376587], "quaternion_xyzw": [-0.498157995372012, 0.6997720585303866, -0.023142284145934073, 0.5114900902574678]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00141_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00141_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5376372933387756, -0.2923978269100189, 0.405352920293808], "quaternion_xyzw": [-0.5181315328610976, 0.6811852382646753, -0.03427488768348899, 0.5160926446865824]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132], "quaternion_xyzw": [-0.5090271472076352, 0.6985866192402994, -0.054538128721066434, 0.499893680035735]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00133_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00133_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03178758919239044, "orientation_residual_rad": 0.06507831309023356, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4678274989128113, -0.2703665494918823, 0.4084193706512451], "quaternion_xyzw": [-0.5146443160293899, 0.6809849462913515, -0.0027891721481906355, 0.5209538860800775]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 141, "eef_pose": {"position_m": [0.49580931663513184, -0.29815083742141724, 0.4043794870376587], "quaternion_xyzw": [-0.498157995372012, 0.6997720585303866, -0.023142284145934073, 0.5114900902574678]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00141_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00141_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.03963924199342728, "orientation_residual_rad": 0.06719146103644756, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 21, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 141, recorded EEF XYZ is (0.496, -0.298, 0.404) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 133, EEF displacement is 5.04 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.53 cm of EEF translation (−X 6.70 cm, +Y 5.27 cm, +Z 0.46 cm), 5.8° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.06697279214859009, 0.05269323289394379, 0.0046454668045043945], "translation_norm_m": 0.08534349443762777, "orientation_delta_rad": 0.10206149037509543, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 141, "current_images": ["images/4f5d9d563b4f35c6/00141_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00141_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00141_wrist_image_left.jpg"], "current_position_m": [0.49580931663513184, -0.29815083742141724, 0.4043794870376587], "current_quaternion_xyzw": [-0.498157995372012, 0.6997720585303866, -0.023142284145934073, 0.5114900902574678], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 133, "position_m": [0.538847804069519, -0.3240634799003601, 0.4078572988510132]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 145, "feedback_step": 146}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42883652448654175, -0.24545760452747345, 0.4090249538421631], "quaternion_xyzw": [-0.5265851822417892, 0.672736793616669, 0.008442055977836036, 0.5196748830265053]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 146, "eef_pose": {"position_m": [0.44909346103668213, -0.2661069333553314, 0.40371835231781006], "quaternion_xyzw": [-0.5116337377901643, 0.6871825069205676, 0.002447912284378047, 0.5157568499425649]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00146_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00146_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00146_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.029409153386950493, "orientation_residual_rad": 0.04397838326260792, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 146, EEF displacement is 5.67 cm; remaining target position residual is 2.94 cm and orientation residual is 2.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 146, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.056653508728140616, "position_residual_m": 0.029409153386950493, "orientation_residual_rad": 0.04397838326260792}, "provenance": {"observation_step": 141, "target_command_step": 145, "feedback_step": 146, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 146, recorded EEF XYZ is (0.449, -0.266, 0.404) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 141, EEF displacement is 5.67 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.34 cm of EEF translation (−X 6.40 cm, +Y 3.48 cm, +Z 0.95 cm), 2.2° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.06398722529411316, 0.034760817885398865, 0.009539604187011719], "translation_norm_m": 0.07344170143008884, "orientation_delta_rad": 0.03775154637267877, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 146, "current_images": ["images/4f5d9d563b4f35c6/00146_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00146_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00146_wrist_image_left.jpg"], "current_position_m": [0.44909346103668213, -0.2661069333553314, 0.40371835231781006], "current_quaternion_xyzw": [-0.5116337377901643, 0.6871825069205676, 0.002447912284378047, 0.5157568499425649], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 141, "position_m": [0.49580931663513184, -0.29815083742141724, 0.4043794870376587]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 152, "feedback_step": 153}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38510623574256897, -0.23134611546993256, 0.4132579565048218], "quaternion_xyzw": [-0.5275516742124635, 0.6809285013592169, 0.0007081287358663655, 0.5079617166933067]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342], "quaternion_xyzw": [-0.527154686824226, 0.6778897849853552, 0.012637761274903124, 0.5122632746564207]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00153_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00153_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.024126756936311722, "orientation_residual_rad": 0.026093167226831075, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 153, EEF displacement is 5.04 cm; remaining target position residual is 2.41 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 153, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05038087181946511, "position_residual_m": 0.024126756936311722, "orientation_residual_rad": 0.026093167226831075}, "provenance": {"observation_step": 146, "target_command_step": 152, "feedback_step": 153, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 23, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 153, "eef_pose": {"position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342], "quaternion_xyzw": [-0.527154686824226, 0.6778897849853552, 0.012637761274903124, 0.5122632746564207]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00153_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00153_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42883652448654175, -0.24545760452747345, 0.4090249538421631], "quaternion_xyzw": [-0.5265851822417892, 0.672736793616669, 0.008442055977836036, 0.5196748830265053]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 146, "eef_pose": {"position_m": [0.44909346103668213, -0.2661069333553314, 0.40371835231781006], "quaternion_xyzw": [-0.5116337377901643, 0.6871825069205676, 0.002447912284378047, 0.5157568499425649]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00146_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00146_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00146_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.029409153386950493, "orientation_residual_rad": 0.04397838326260792, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38510623574256897, -0.23134611546993256, 0.4132579565048218], "quaternion_xyzw": [-0.5275516742124635, 0.6809285013592169, 0.0007081287358663655, 0.5079617166933067]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342], "quaternion_xyzw": [-0.527154686824226, 0.6778897849853552, 0.012637761274903124, 0.5122632746564207]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00153_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00153_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.024126756936311722, "orientation_residual_rad": 0.026093167226831075, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 23, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 153, recorded EEF XYZ is (0.407, -0.238, 0.407) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 146, EEF displacement is 5.04 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.90 cm of EEF translation (−X 7.80 cm, −Y 0.20 cm, +Z 1.22 cm), 5.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.07797425985336304, -0.0019571632146835327, 0.012237727642059326], "translation_norm_m": 0.07895300922301769, "orientation_delta_rad": 0.09489023510290988, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 153, "current_images": ["images/4f5d9d563b4f35c6/00153_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00153_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00153_wrist_image_left.jpg"], "current_position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342], "current_quaternion_xyzw": [-0.527154686824226, 0.6778897849853552, 0.012637761274903124, 0.5122632746564207], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 146, "position_m": [0.44909346103668213, -0.2661069333553314, 0.40371835231781006]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 159, "feedback_step": 160}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.32948020100593567, -0.23989132046699524, 0.41923031210899353], "quaternion_xyzw": [-0.5160313076502632, 0.6979017197867541, -0.025586183526447544, 0.4959740177227042]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 160, "eef_pose": {"position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534], "quaternion_xyzw": [-0.5231380577238608, 0.6861124661307781, -0.008561117213009872, 0.5054730098164621]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00160_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00160_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00160_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02477019652724266, "orientation_residual_rad": 0.04773272122762638, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 160, EEF displacement is 5.46 cm; remaining target position residual is 2.48 cm and orientation residual is 2.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 160, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05460004374568179, "position_residual_m": 0.02477019652724266, "orientation_residual_rad": 0.04773272122762638}, "provenance": {"observation_step": 153, "target_command_step": 159, "feedback_step": 160, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 24, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 160, "eef_pose": {"position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534], "quaternion_xyzw": [-0.5231380577238608, 0.6861124661307781, -0.008561117213009872, 0.5054730098164621]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00160_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00160_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00160_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38510623574256897, -0.23134611546993256, 0.4132579565048218], "quaternion_xyzw": [-0.5275516742124635, 0.6809285013592169, 0.0007081287358663655, 0.5079617166933067]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 153, "eef_pose": {"position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342], "quaternion_xyzw": [-0.527154686824226, 0.6778897849853552, 0.012637761274903124, 0.5122632746564207]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00153_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00153_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00153_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.024126756936311722, "orientation_residual_rad": 0.026093167226831075, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.32948020100593567, -0.23989132046699524, 0.41923031210899353], "quaternion_xyzw": [-0.5160313076502632, 0.6979017197867541, -0.025586183526447544, 0.4959740177227042]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 160, "eef_pose": {"position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534], "quaternion_xyzw": [-0.5231380577238608, 0.6861124661307781, -0.008561117213009872, 0.5054730098164621]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00160_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00160_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00160_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02477019652724266, "orientation_residual_rad": 0.04773272122762638, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 24, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 160, recorded EEF XYZ is (0.353, -0.242, 0.413) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 153, EEF displacement is 5.46 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.04 cm of EEF translation (−X 0.53 cm, −Y 1.73 cm, +Z 3.61 cm), 18.5° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.0053223371505737305, -0.017321541905403137, 0.03606438636779785], "translation_norm_m": 0.04036090993536714, "orientation_delta_rad": 0.32346279605623424, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 160, "current_images": ["images/4f5d9d563b4f35c6/00160_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00160_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00160_wrist_image_left.jpg"], "current_position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534], "current_quaternion_xyzw": [-0.5231380577238608, 0.6861124661307781, -0.008561117213009872, 0.5054730098164621], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 153, "position_m": [0.4074544608592987, -0.2379341572523117, 0.4069925844669342]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 166, "feedback_step": 167}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3480444550514221, -0.2595422863960266, 0.4491654932498932], "quaternion_xyzw": [-0.547489418216383, 0.7118392587562178, -0.13922921858574458, 0.4173193397465394]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 167, "eef_pose": {"position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696], "quaternion_xyzw": [-0.5264951081861264, 0.7097626257150033, -0.09835197887309467, 0.45756617493644514]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00167_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00167_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00167_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.021735820919275284, "orientation_residual_rad": 0.12226190809682468, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 167, EEF displacement is 3.37 cm; remaining target position residual is 2.17 cm and orientation residual is 7.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 167, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.033684427386802364, "position_residual_m": 0.021735820919275284, "orientation_residual_rad": 0.12226190809682468}, "provenance": {"observation_step": 160, "target_command_step": 166, "feedback_step": 167, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 25, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 167, "eef_pose": {"position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696], "quaternion_xyzw": [-0.5264951081861264, 0.7097626257150033, -0.09835197887309467, 0.45756617493644514]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00167_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00167_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00167_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.32948020100593567, -0.23989132046699524, 0.41923031210899353], "quaternion_xyzw": [-0.5160313076502632, 0.6979017197867541, -0.025586183526447544, 0.4959740177227042]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 160, "eef_pose": {"position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534], "quaternion_xyzw": [-0.5231380577238608, 0.6861124661307781, -0.008561117213009872, 0.5054730098164621]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00160_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00160_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00160_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.02477019652724266, "orientation_residual_rad": 0.04773272122762638, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3480444550514221, -0.2595422863960266, 0.4491654932498932], "quaternion_xyzw": [-0.547489418216383, 0.7118392587562178, -0.13922921858574458, 0.4173193397465394]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 167, "eef_pose": {"position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696], "quaternion_xyzw": [-0.5264951081861264, 0.7097626257150033, -0.09835197887309467, 0.45756617493644514]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00167_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00167_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00167_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.021735820919275284, "orientation_residual_rad": 0.12226190809682468, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 25, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 167, recorded EEF XYZ is (0.333, -0.259, 0.434) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 160, EEF displacement is 3.37 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.25 cm of EEF translation (+X 5.59 cm, +Y 0.33 cm, +Z 6.06 cm), 19.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.05588147044181824, 0.003268688917160034, 0.06059908866882324], "translation_norm_m": 0.08249650061347373, "orientation_delta_rad": 0.34360813749679464, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 167, "current_images": ["images/4f5d9d563b4f35c6/00167_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00167_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00167_wrist_image_left.jpg"], "current_position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696], "current_quaternion_xyzw": [-0.5264951081861264, 0.7097626257150033, -0.09835197887309467, 0.45756617493644514], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 160, "position_m": [0.35336679220199585, -0.24222074449062347, 0.41310110688209534]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 170, "feedback_step": 171}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38860464096069336, -0.2557393014431, 0.4943561851978302], "quaternion_xyzw": [-0.5981147647092571, 0.6853580440759766, -0.2140909546031805, 0.35596087258888537]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542], "quaternion_xyzw": [-0.5716204826153211, 0.6938320913614846, -0.17812381164544766, 0.4001486730909813]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00171_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00171_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03234495595097542, "orientation_residual_rad": 0.12682745661684616, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 171, EEF displacement is 5.13 cm; remaining target position residual is 3.23 cm and orientation residual is 7.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 171, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.051335207445407025, "position_residual_m": 0.03234495595097542, "orientation_residual_rad": 0.12682745661684616}, "provenance": {"observation_step": 167, "target_command_step": 170, "feedback_step": 171, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 26, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 171, "eef_pose": {"position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542], "quaternion_xyzw": [-0.5716204826153211, 0.6938320913614846, -0.17812381164544766, 0.4001486730909813]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00171_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00171_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3480444550514221, -0.2595422863960266, 0.4491654932498932], "quaternion_xyzw": [-0.547489418216383, 0.7118392587562178, -0.13922921858574458, 0.4173193397465394]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 167, "eef_pose": {"position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696], "quaternion_xyzw": [-0.5264951081861264, 0.7097626257150033, -0.09835197887309467, 0.45756617493644514]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00167_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00167_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00167_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.021735820919275284, "orientation_residual_rad": 0.12226190809682468, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38860464096069336, -0.2557393014431, 0.4943561851978302], "quaternion_xyzw": [-0.5981147647092571, 0.6853580440759766, -0.2140909546031805, 0.35596087258888537]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542], "quaternion_xyzw": [-0.5716204826153211, 0.6938320913614846, -0.17812381164544766, 0.4001486730909813]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00171_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00171_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03234495595097542, "orientation_residual_rad": 0.12682745661684616, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 26, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 171, recorded EEF XYZ is (0.363, -0.254, 0.475) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 167, EEF displacement is 5.13 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.18 cm of EEF translation (+X 6.02 cm, +Y 1.17 cm, +Z 5.41 cm), 17.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.06022641062736511, 0.011679202318191528, 0.05405658483505249], "translation_norm_m": 0.08176636636095844, "orientation_delta_rad": 0.30952371610337026, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 171, "current_images": ["images/4f5d9d563b4f35c6/00171_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00171_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00171_wrist_image_left.jpg"], "current_position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542], "current_quaternion_xyzw": [-0.5716204826153211, 0.6938320913614846, -0.17812381164544766, 0.4001486730909813], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 167, "position_m": [0.3327231705188751, -0.25900799036026, 0.43375709652900696]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 174, "feedback_step": 175}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4229584336280823, -0.24195358157157898, 0.5291159749031067], "quaternion_xyzw": [-0.6469762967447346, 0.6445226761439824, -0.26508505471911564, 0.3094222117935813]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 175, "eef_pose": {"position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809], "quaternion_xyzw": [-0.6254566478400047, 0.6583817625242325, -0.2426872498444427, 0.3412335493634391]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00175_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00175_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00175_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02504586987197399, "orientation_residual_rad": 0.09314900988347082, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 175, EEF displacement is 5.83 cm; remaining target position residual is 2.50 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 175, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05832443992920749, "position_residual_m": 0.02504586987197399, "orientation_residual_rad": 0.09314900988347082}, "provenance": {"observation_step": 171, "target_command_step": 174, "feedback_step": 175, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 27, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 175, "eef_pose": {"position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809], "quaternion_xyzw": [-0.6254566478400047, 0.6583817625242325, -0.2426872498444427, 0.3412335493634391]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00175_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00175_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00175_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38860464096069336, -0.2557393014431, 0.4943561851978302], "quaternion_xyzw": [-0.5981147647092571, 0.6853580440759766, -0.2140909546031805, 0.35596087258888537]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 171, "eef_pose": {"position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542], "quaternion_xyzw": [-0.5716204826153211, 0.6938320913614846, -0.17812381164544766, 0.4001486730909813]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00171_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00171_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00171_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03234495595097542, "orientation_residual_rad": 0.12682745661684616, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4229584336280823, -0.24195358157157898, 0.5291159749031067], "quaternion_xyzw": [-0.6469762967447346, 0.6445226761439824, -0.26508505471911564, 0.3094222117935813]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 175, "eef_pose": {"position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809], "quaternion_xyzw": [-0.6254566478400047, 0.6583817625242325, -0.2426872498444427, 0.3412335493634391]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00175_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00175_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00175_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02504586987197399, "orientation_residual_rad": 0.09314900988347082, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 175, recorded EEF XYZ is (0.401, -0.241, 0.517) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 171, EEF displacement is 5.83 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.89 cm of EEF translation (+X 4.59 cm, +Y 0.26 cm, +Z 1.66 cm), 14.1° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.045924246311187744, 0.0025838911533355713, 0.016629278659820557], "translation_norm_m": 0.04891058987058825, "orientation_delta_rad": 0.2457895039782948, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 175, "current_images": ["images/4f5d9d563b4f35c6/00175_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00175_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00175_wrist_image_left.jpg"], "current_position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809], "current_quaternion_xyzw": [-0.6254566478400047, 0.6583817625242325, -0.2426872498444427, 0.3412335493634391], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 171, "position_m": [0.36273202300071716, -0.2536327838897705, 0.4750593900680542]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 179, "feedback_step": 180}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44674429297447205, -0.23856998980045319, 0.5340598821640015], "quaternion_xyzw": [-0.6840337863709887, 0.6177515814084852, -0.2926689939616773, 0.2546087640748915]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082], "quaternion_xyzw": [-0.6744996317367415, 0.621334153222894, -0.27974614865659575, 0.2841411781801276]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00180_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00180_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.015989094972610474, "orientation_residual_rad": 0.06761677919073994, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 180, EEF displacement is 3.48 cm; remaining target position residual is 1.60 cm and orientation residual is 3.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 180, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.034762541969003725, "position_residual_m": 0.015989094972610474, "orientation_residual_rad": 0.06761677919073994}, "provenance": {"observation_step": 175, "target_command_step": 179, "feedback_step": 180, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 28, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 180, "eef_pose": {"position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082], "quaternion_xyzw": [-0.6744996317367415, 0.621334153222894, -0.27974614865659575, 0.2841411781801276]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00180_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00180_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4229584336280823, -0.24195358157157898, 0.5291159749031067], "quaternion_xyzw": [-0.6469762967447346, 0.6445226761439824, -0.26508505471911564, 0.3094222117935813]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 175, "eef_pose": {"position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809], "quaternion_xyzw": [-0.6254566478400047, 0.6583817625242325, -0.2426872498444427, 0.3412335493634391]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00175_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00175_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00175_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02504586987197399, "orientation_residual_rad": 0.09314900988347082, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44674429297447205, -0.23856998980045319, 0.5340598821640015], "quaternion_xyzw": [-0.6840337863709887, 0.6177515814084852, -0.2926689939616773, 0.2546087640748915]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082], "quaternion_xyzw": [-0.6744996317367415, 0.621334153222894, -0.27974614865659575, 0.2841411781801276]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00180_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00180_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.015989094972610474, "orientation_residual_rad": 0.06761677919073994, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 28, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 180, recorded EEF XYZ is (0.432, -0.234, 0.532) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 175, EEF displacement is 3.48 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.46 cm of EEF translation (+X 5.03 cm, +Y 0.71 cm, −Z 1.99 cm), 11.7° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.05027654767036438, 0.007122740149497986, -0.019937574863433838], "translation_norm_m": 0.05455246616169356, "orientation_delta_rad": 0.2036141737814614, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 180, "current_images": ["images/4f5d9d563b4f35c6/00180_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00180_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00180_wrist_image_left.jpg"], "current_position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082], "current_quaternion_xyzw": [-0.6744996317367415, 0.621334153222894, -0.27974614865659575, 0.2841411781801276], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 175, "position_m": [0.4008200466632843, -0.24115388095378876, 0.5174306035041809]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 191, "feedback_step": 192}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4818218946456909, -0.22690905630588531, 0.5121103525161743], "quaternion_xyzw": [-0.7404598897019967, 0.5780651332685178, -0.26065281149760416, 0.22275539342550568]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 192, "eef_pose": {"position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626], "quaternion_xyzw": [-0.7297798951754783, 0.5855492684965833, -0.2719600474729552, 0.22492463479861932]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00192_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00192_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00192_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.009509028866887093, "orientation_residual_rad": 0.034793182625877474, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 192, EEF displacement is 5.05 cm; remaining target position residual is 0.95 cm and orientation residual is 2.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 192, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0504717358445518, "position_residual_m": 0.009509028866887093, "orientation_residual_rad": 0.034793182625877474}, "provenance": {"observation_step": 180, "target_command_step": 191, "feedback_step": 192, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 29, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 192, "eef_pose": {"position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626], "quaternion_xyzw": [-0.7297798951754783, 0.5855492684965833, -0.2719600474729552, 0.22492463479861932]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00192_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00192_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00192_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44674429297447205, -0.23856998980045319, 0.5340598821640015], "quaternion_xyzw": [-0.6840337863709887, 0.6177515814084852, -0.2926689939616773, 0.2546087640748915]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 180, "eef_pose": {"position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082], "quaternion_xyzw": [-0.6744996317367415, 0.621334153222894, -0.27974614865659575, 0.2841411781801276]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00180_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00180_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00180_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.015989094972610474, "orientation_residual_rad": 0.06761677919073994, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4818218946456909, -0.22690905630588531, 0.5121103525161743], "quaternion_xyzw": [-0.7404598897019967, 0.5780651332685178, -0.26065281149760416, 0.22275539342550568]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 192, "eef_pose": {"position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626], "quaternion_xyzw": [-0.7297798951754783, 0.5855492684965833, -0.2719600474729552, 0.22492463479861932]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00192_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00192_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00192_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.009509028866887093, "orientation_residual_rad": 0.034793182625877474, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 29, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 192, recorded EEF XYZ is (0.474, -0.225, 0.507) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 180, EEF displacement is 5.05 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.16 cm of EEF translation (+X 0.34 cm, +Y 1.01 cm, +Z 2.98 cm), 16.2° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.003394991159439087, 0.010090649127960205, 0.029804468154907227], "translation_norm_m": 0.031648909725188835, "orientation_delta_rad": 0.2833544398411808, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 192, "current_images": ["images/4f5d9d563b4f35c6/00192_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00192_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00192_wrist_image_left.jpg"], "current_position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626], "current_quaternion_xyzw": [-0.7297798951754783, 0.5855492684965833, -0.2719600474729552, 0.22492463479861932], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 180, "position_m": [0.43154534697532654, -0.2340317964553833, 0.5320479273796082]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 198, "feedback_step": 199}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4776400923728943, -0.21520733833312988, 0.5363995432853699], "quaternion_xyzw": [-0.7913135874802698, 0.5385853420263438, -0.15504428997781208, 0.24435610033053717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 199, "eef_pose": {"position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534], "quaternion_xyzw": [-0.7712949803269363, 0.5551039055153499, -0.19452900209186902, 0.24315051871056778]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00199_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00199_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00199_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01542589720338583, "orientation_residual_rad": 0.09454140994680615, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 199, EEF displacement is 1.94 cm; remaining target position residual is 1.54 cm and orientation residual is 5.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 199, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.01940761050049796, "position_residual_m": 0.01542589720338583, "orientation_residual_rad": 0.09454140994680615}, "provenance": {"observation_step": 192, "target_command_step": 198, "feedback_step": 199, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 30, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 199, "eef_pose": {"position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534], "quaternion_xyzw": [-0.7712949803269363, 0.5551039055153499, -0.19452900209186902, 0.24315051871056778]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00199_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00199_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00199_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4818218946456909, -0.22690905630588531, 0.5121103525161743], "quaternion_xyzw": [-0.7404598897019967, 0.5780651332685178, -0.26065281149760416, 0.22275539342550568]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 192, "eef_pose": {"position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626], "quaternion_xyzw": [-0.7297798951754783, 0.5855492684965833, -0.2719600474729552, 0.22492463479861932]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00192_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00192_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00192_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.009509028866887093, "orientation_residual_rad": 0.034793182625877474, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4776400923728943, -0.21520733833312988, 0.5363995432853699], "quaternion_xyzw": [-0.7913135874802698, 0.5385853420263438, -0.15504428997781208, 0.24435610033053717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 199, "eef_pose": {"position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534], "quaternion_xyzw": [-0.7712949803269363, 0.5551039055153499, -0.19452900209186902, 0.24315051871056778]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00199_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00199_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00199_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01542589720338583, "orientation_residual_rad": 0.09454140994680615, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 30, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 199, recorded EEF XYZ is (0.479, -0.213, 0.521) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 192, EEF displacement is 1.94 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.29 cm of EEF translation (−X 1.49 cm, −Y 4.02 cm, −Z 0.18 cm), 8.5° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.014930784702301025, -0.04022756218910217, -0.0017531514167785645], "translation_norm_m": 0.042944832417820676, "orientation_delta_rad": 0.14773441073576213, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 199, "current_images": ["images/4f5d9d563b4f35c6/00199_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00199_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00199_wrist_image_left.jpg"], "current_position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534], "current_quaternion_xyzw": [-0.7712949803269363, 0.5551039055153499, -0.19452900209186902, 0.24315051871056778], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 192, "position_m": [0.4742451012134552, -0.2252979874610901, 0.5065950751304626]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 213, "feedback_step": 214}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46405237913131714, -0.2535865008831024, 0.5193906426429749], "quaternion_xyzw": [-0.7820711613647867, 0.5746105411927144, -0.14668081353762724, 0.1914997740251651]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 214, "eef_pose": {"position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679], "quaternion_xyzw": [-0.7870642015006426, 0.560223489219261, -0.15246782340860518, 0.20840620832449971]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00214_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00214_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00214_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01708863116800785, "orientation_residual_rad": 0.04695785522162473, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 214, EEF displacement is 3.74 cm; remaining target position residual is 1.71 cm and orientation residual is 2.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 214, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.037449020868458444, "position_residual_m": 0.01708863116800785, "orientation_residual_rad": 0.04695785522162473}, "provenance": {"observation_step": 199, "target_command_step": 213, "feedback_step": 214, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 31, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 214, "eef_pose": {"position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679], "quaternion_xyzw": [-0.7870642015006426, 0.560223489219261, -0.15246782340860518, 0.20840620832449971]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00214_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00214_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00214_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4776400923728943, -0.21520733833312988, 0.5363995432853699], "quaternion_xyzw": [-0.7913135874802698, 0.5385853420263438, -0.15504428997781208, 0.24435610033053717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 199, "eef_pose": {"position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534], "quaternion_xyzw": [-0.7712949803269363, 0.5551039055153499, -0.19452900209186902, 0.24315051871056778]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00199_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00199_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00199_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.01542589720338583, "orientation_residual_rad": 0.09454140994680615, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46405237913131714, -0.2535865008831024, 0.5193906426429749], "quaternion_xyzw": [-0.7820711613647867, 0.5746105411927144, -0.14668081353762724, 0.1914997740251651]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 214, "eef_pose": {"position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679], "quaternion_xyzw": [-0.7870642015006426, 0.560223489219261, -0.15246782340860518, 0.20840620832449971]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00214_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00214_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00214_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01708863116800785, "orientation_residual_rad": 0.04695785522162473, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 31, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 214, recorded EEF XYZ is (0.462, -0.244, 0.534) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 199, EEF displacement is 3.74 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.35 cm of EEF translation (−X 0.01 cm, −Y 1.68 cm, +Z 2.89 cm), 13.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-6.520748138427734e-05, -0.016836047172546387, 0.028947532176971436], "translation_norm_m": 0.03348755523397658, "orientation_delta_rad": 0.22656218679244647, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 214, "current_images": ["images/4f5d9d563b4f35c6/00214_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00214_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00214_wrist_image_left.jpg"], "current_position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679], "current_quaternion_xyzw": [-0.7870642015006426, 0.560223489219261, -0.15246782340860518, 0.20840620832449971], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 199, "position_m": [0.47898316383361816, -0.21335893869400024, 0.5211437940597534]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 226, "feedback_step": 227}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46171045303344727, -0.26107168197631836, 0.5624590516090393], "quaternion_xyzw": [-0.7502599158603277, 0.5823065265930192, -0.25409413734028236, 0.18293533586960595]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 227, "eef_pose": {"position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019], "quaternion_xyzw": [-0.7550778978987822, 0.580778193267776, -0.23441853477098032, 0.19391237424465818]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00227_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00227_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00227_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.009260064922273159, "orientation_residual_rad": 0.046182124368965745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 227, EEF displacement is 3.16 cm; remaining target position residual is 0.93 cm and orientation residual is 2.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 227, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.031612114300369525, "position_residual_m": 0.009260064922273159, "orientation_residual_rad": 0.046182124368965745}, "provenance": {"observation_step": 214, "target_command_step": 226, "feedback_step": 227, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 32, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 227, "eef_pose": {"position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019], "quaternion_xyzw": [-0.7550778978987822, 0.580778193267776, -0.23441853477098032, 0.19391237424465818]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00227_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00227_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00227_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46405237913131714, -0.2535865008831024, 0.5193906426429749], "quaternion_xyzw": [-0.7820711613647867, 0.5746105411927144, -0.14668081353762724, 0.1914997740251651]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 214, "eef_pose": {"position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679], "quaternion_xyzw": [-0.7870642015006426, 0.560223489219261, -0.15246782340860518, 0.20840620832449971]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00214_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00214_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00214_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.01708863116800785, "orientation_residual_rad": 0.04695785522162473, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46171045303344727, -0.26107168197631836, 0.5624590516090393], "quaternion_xyzw": [-0.7502599158603277, 0.5823065265930192, -0.25409413734028236, 0.18293533586960595]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 227, "eef_pose": {"position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019], "quaternion_xyzw": [-0.7550778978987822, 0.580778193267776, -0.23441853477098032, 0.19391237424465818]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00227_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00227_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00227_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.009260064922273159, "orientation_residual_rad": 0.046182124368965745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 32, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 227, recorded EEF XYZ is (0.462, -0.267, 0.555) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 214, EEF displacement is 3.16 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.11 cm of EEF translation (+X 3.52 cm, +Y 0.70 cm, −Z 4.94 cm), 3.9° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.03523710370063782, 0.007025331258773804, -0.04943054914474487], "translation_norm_m": 0.06110963872627661, "orientation_delta_rad": 0.06742245169782385, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 227, "current_images": ["images/4f5d9d563b4f35c6/00227_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00227_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00227_wrist_image_left.jpg"], "current_position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019], "current_quaternion_xyzw": [-0.7550778978987822, 0.580778193267776, -0.23441853477098032, 0.19391237424465818], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 214, "position_m": [0.46177566051483154, -0.24423563480377197, 0.5335115194320679]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 236, "feedback_step": 237}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4969768822193146, -0.2600279748439789, 0.505959689617157], "quaternion_xyzw": [-0.7558064060639063, 0.5857263975273764, -0.24384070391998933, 0.16193509472676823]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 237, "eef_pose": {"position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477], "quaternion_xyzw": [-0.7625014406540238, 0.5770462623206286, -0.2368084294750772, 0.17184566294171544]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00237_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00237_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.011933051981031895, "orientation_residual_rad": 0.03273203079589052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 237, EEF displacement is 5.29 cm; remaining target position residual is 1.19 cm and orientation residual is 1.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 237, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05291758853649952, "position_residual_m": 0.011933051981031895, "orientation_residual_rad": 0.03273203079589052}, "provenance": {"observation_step": 227, "target_command_step": 236, "feedback_step": 237, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 33, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 237, "eef_pose": {"position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477], "quaternion_xyzw": [-0.7625014406540238, 0.5770462623206286, -0.2368084294750772, 0.17184566294171544]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00237_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00237_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46171045303344727, -0.26107168197631836, 0.5624590516090393], "quaternion_xyzw": [-0.7502599158603277, 0.5823065265930192, -0.25409413734028236, 0.18293533586960595]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 227, "eef_pose": {"position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019], "quaternion_xyzw": [-0.7550778978987822, 0.580778193267776, -0.23441853477098032, 0.19391237424465818]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00227_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00227_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00227_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.009260064922273159, "orientation_residual_rad": 0.046182124368965745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4969768822193146, -0.2600279748439789, 0.505959689617157], "quaternion_xyzw": [-0.7558064060639063, 0.5857263975273764, -0.24384070391998933, 0.16193509472676823]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 237, "eef_pose": {"position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477], "quaternion_xyzw": [-0.7625014406540238, 0.5770462623206286, -0.2368084294750772, 0.17184566294171544]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00237_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00237_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.011933051981031895, "orientation_residual_rad": 0.03273203079589052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 33, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 237, recorded EEF XYZ is (0.488, -0.254, 0.512) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 227, EEF displacement is 5.29 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.83 cm of EEF translation (+X 0.34 cm, +Y 2.41 cm, +Z 1.46 cm), 18.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.0033835172653198242, 0.024050086736679077, 0.014607012271881104], "translation_norm_m": 0.028341130334504822, "orientation_delta_rad": 0.3146575873930361, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 237, "current_images": ["images/4f5d9d563b4f35c6/00237_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00237_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00237_wrist_image_left.jpg"], "current_position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477], "current_quaternion_xyzw": [-0.7625014406540238, 0.5770462623206286, -0.2368084294750772, 0.17184566294171544], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 227, "position_m": [0.46173977851867676, -0.2670533061027527, 0.5553902387619019]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 249, "feedback_step": 250}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49168580770492554, -0.22995904088020325, 0.5261275172233582], "quaternion_xyzw": [-0.8306336124436047, 0.510783583612081, -0.11306166595247817, 0.19069607306742856]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 250, "eef_pose": {"position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814], "quaternion_xyzw": [-0.809451698711725, 0.5366318535035719, -0.15498076435702, 0.18109435092607876]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00250_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00250_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00250_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.012887489050626755, "orientation_residual_rad": 0.10893932063896541, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 250, EEF displacement is 2.24 cm; remaining target position residual is 1.29 cm and orientation residual is 6.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 250, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.02243815216615839, "position_residual_m": 0.012887489050626755, "orientation_residual_rad": 0.10893932063896541}, "provenance": {"observation_step": 237, "target_command_step": 249, "feedback_step": 250, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 34, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 250, "eef_pose": {"position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814], "quaternion_xyzw": [-0.809451698711725, 0.5366318535035719, -0.15498076435702, 0.18109435092607876]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00250_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00250_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00250_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4969768822193146, -0.2600279748439789, 0.505959689617157], "quaternion_xyzw": [-0.7558064060639063, 0.5857263975273764, -0.24384070391998933, 0.16193509472676823]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 237, "eef_pose": {"position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477], "quaternion_xyzw": [-0.7625014406540238, 0.5770462623206286, -0.2368084294750772, 0.17184566294171544]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00237_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00237_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00237_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.011933051981031895, "orientation_residual_rad": 0.03273203079589052, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49168580770492554, -0.22995904088020325, 0.5261275172233582], "quaternion_xyzw": [-0.8306336124436047, 0.510783583612081, -0.11306166595247817, 0.19069607306742856]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 250, "eef_pose": {"position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814], "quaternion_xyzw": [-0.809451698711725, 0.5366318535035719, -0.15498076435702, 0.18109435092607876]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00250_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00250_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00250_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.012887489050626755, "orientation_residual_rad": 0.10893932063896541, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 34, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 250, recorded EEF XYZ is (0.496, -0.233, 0.515) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 237, EEF displacement is 2.24 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.71 cm of EEF translation (−X 2.00 cm, +Y 1.85 cm, +Z 2.52 cm), 14.6° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.019993990659713745, 0.018482178449630737, 0.025206387042999268], "translation_norm_m": 0.0371040770065258, "orientation_delta_rad": 0.25403105132232745, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 250, "current_images": ["images/4f5d9d563b4f35c6/00250_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00250_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00250_wrist_image_left.jpg"], "current_position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814], "current_quaternion_xyzw": [-0.809451698711725, 0.5366318535035719, -0.15498076435702, 0.18109435092607876], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 237, "position_m": [0.4883022904396057, -0.2540091276168823, 0.511520504951477]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 254, "feedback_step": 255}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4763534665107727, -0.21480578184127808, 0.5397894382476807], "quaternion_xyzw": [-0.8550638237221576, 0.476360985781057, -0.05433241957690722, 0.1974691286511937]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 255, "eef_pose": {"position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828], "quaternion_xyzw": [-0.8427197245105801, 0.495369008913288, -0.07914461650829448, 0.19536924171126308]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00255_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00255_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00255_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.00980043038725853, "orientation_residual_rad": 0.06734518542071556, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 255, EEF displacement is 2.86 cm; remaining target position residual is 0.98 cm and orientation residual is 3.9°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 255, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.02856708472493789, "position_residual_m": 0.00980043038725853, "orientation_residual_rad": 0.06734518542071556}, "provenance": {"observation_step": 250, "target_command_step": 254, "feedback_step": 255, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 35, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 255, "eef_pose": {"position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828], "quaternion_xyzw": [-0.8427197245105801, 0.495369008913288, -0.07914461650829448, 0.19536924171126308]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00255_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00255_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00255_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49168580770492554, -0.22995904088020325, 0.5261275172233582], "quaternion_xyzw": [-0.8306336124436047, 0.510783583612081, -0.11306166595247817, 0.19069607306742856]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 250, "eef_pose": {"position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814], "quaternion_xyzw": [-0.809451698711725, 0.5366318535035719, -0.15498076435702, 0.18109435092607876]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00250_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00250_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00250_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.012887489050626755, "orientation_residual_rad": 0.10893932063896541, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4763534665107727, -0.21480578184127808, 0.5397894382476807], "quaternion_xyzw": [-0.8550638237221576, 0.476360985781057, -0.05433241957690722, 0.1974691286511937]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 255, "eef_pose": {"position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828], "quaternion_xyzw": [-0.8427197245105801, 0.495369008913288, -0.07914461650829448, 0.19536924171126308]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00255_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00255_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00255_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.00980043038725853, "orientation_residual_rad": 0.06734518542071556, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 35, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 255, recorded EEF XYZ is (0.481, -0.216, 0.531) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 250, EEF displacement is 2.86 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.46 cm of EEF translation (−X 2.60 cm, −Y 5.91 cm, −Z 0.18 cm), 4.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.02604922652244568, -0.05909609794616699, -0.001798093318939209], "translation_norm_m": 0.06460761669079168, "orientation_delta_rad": 0.07723784312481755, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 255, "current_images": ["images/4f5d9d563b4f35c6/00255_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00255_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00255_wrist_image_left.jpg"], "current_position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828], "current_quaternion_xyzw": [-0.8427197245105801, 0.495369008913288, -0.07914461650829448, 0.19536924171126308], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 250, "position_m": [0.49634745717048645, -0.2332879602909088, 0.5145830512046814]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 269, "feedback_step": 270}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4548870325088501, -0.274988055229187, 0.5293967723846436], "quaternion_xyzw": [-0.8254600988866962, 0.5273685259620872, -0.08349406450495835, 0.1831032609294076]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 270, "eef_pose": {"position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205], "quaternion_xyzw": [-0.8356404399532544, 0.5116246341617244, -0.0701959054226608, 0.18713049910558624]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00270_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00270_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00270_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.0199247095733881, "orientation_residual_rad": 0.046673070193294745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 270, EEF displacement is 4.70 cm; remaining target position residual is 1.99 cm and orientation residual is 2.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 270, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04698438503770087, "position_residual_m": 0.0199247095733881, "orientation_residual_rad": 0.046673070193294745}, "provenance": {"observation_step": 255, "target_command_step": 269, "feedback_step": 270, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 36, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 270, "eef_pose": {"position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205], "quaternion_xyzw": [-0.8356404399532544, 0.5116246341617244, -0.0701959054226608, 0.18713049910558624]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00270_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00270_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00270_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4763534665107727, -0.21480578184127808, 0.5397894382476807], "quaternion_xyzw": [-0.8550638237221576, 0.476360985781057, -0.05433241957690722, 0.1974691286511937]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 255, "eef_pose": {"position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828], "quaternion_xyzw": [-0.8427197245105801, 0.495369008913288, -0.07914461650829448, 0.19536924171126308]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00255_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00255_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00255_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.00980043038725853, "orientation_residual_rad": 0.06734518542071556, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4548870325088501, -0.274988055229187, 0.5293967723846436], "quaternion_xyzw": [-0.8254600988866962, 0.5273685259620872, -0.08349406450495835, 0.1831032609294076]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 270, "eef_pose": {"position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205], "quaternion_xyzw": [-0.8356404399532544, 0.5116246341617244, -0.0701959054226608, 0.18713049910558624]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00270_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00270_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00270_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.0199247095733881, "orientation_residual_rad": 0.046673070193294745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 36, "subgoal": {"id": "sg-002", "phase": "approach_open", "title": "Approach / align with open gripper", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 270, recorded EEF XYZ is (0.455, -0.255, 0.531) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 255, EEF displacement is 4.70 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.06 cm of EEF translation (−X 0.40 cm, −Y 5.04 cm, +Z 0.37 cm), 19.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.003951132297515869, -0.050356537103652954, 0.0037208199501037598], "translation_norm_m": 0.05064816656706479, "orientation_delta_rad": 0.33869917473768163, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 270, "current_images": ["images/4f5d9d563b4f35c6/00270_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00270_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00270_wrist_image_left.jpg"], "current_position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205], "current_quaternion_xyzw": [-0.8356404399532544, 0.5116246341617244, -0.0701959054226608, 0.18713049910558624], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 255, "position_m": [0.4809362590312958, -0.21589195728302002, 0.5311948657035828]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 276, "feedback_step": 277}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45119741559028625, -0.30552294850349426, 0.5351245999336243], "quaternion_xyzw": [-0.9086364157222252, 0.3622270811127781, -0.10074850630676083, 0.18171720944627404]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 277, "eef_pose": {"position_m": [0.4428862929344177, -0.2977389395236969, 0.5306268930435181], "quaternion_xyzw": [-0.8786107760113029, 0.428398547432574, -0.10582429887009806, 0.18253494625174865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00277_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00277_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00277_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.012243158183991909, "orientation_residual_rad": 0.14572553266697538, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 277, EEF displacement is 4.43 cm; remaining target position residual is 1.22 cm and orientation residual is 8.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 277, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04431011849133132, "position_residual_m": 0.012243158183991909, "orientation_residual_rad": 0.14572553266697538}, "provenance": {"observation_step": 270, "target_command_step": 276, "feedback_step": 277, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "4f5d9d563b4f35c6", "decision_index": 37, "split": "test", "task": null, "instruction_available": false, "observation": {"source_step": 277, "eef_pose": {"position_m": [0.4428862929344177, -0.2977389395236969, 0.5306268930435181], "quaternion_xyzw": [-0.8786107760113029, 0.428398547432574, -0.10582429887009806, 0.18253494625174865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00277_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00277_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00277_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4548870325088501, -0.274988055229187, 0.5293967723846436], "quaternion_xyzw": [-0.8254600988866962, 0.5273685259620872, -0.08349406450495835, 0.1831032609294076]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 270, "eef_pose": {"position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205], "quaternion_xyzw": [-0.8356404399532544, 0.5116246341617244, -0.0701959054226608, 0.18713049910558624]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00270_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00270_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00270_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.0199247095733881, "orientation_residual_rad": 0.046673070193294745, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45119741559028625, -0.30552294850349426, 0.5351245999336243], "quaternion_xyzw": [-0.9086364157222252, 0.3622270811127781, -0.10074850630676083, 0.18171720944627404]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 277, "eef_pose": {"position_m": [0.4428862929344177, -0.2977389395236969, 0.5306268930435181], "quaternion_xyzw": [-0.8786107760113029, 0.428398547432574, -0.10582429887009806, 0.18253494625174865]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00277_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00277_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00277_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 0.012243158183991909, "orientation_residual_rad": 0.14572553266697538, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 37, "subgoal": {"id": "sg-003", "phase": "reorient", "title": "Adjust orientation", "intent": "Describe this motion phase without assigning an unavailable task intent.", "status": "hypothesis", "semantic_alignment": "unresolved"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 277, recorded EEF XYZ is (0.443, -0.298, 0.531) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 270, EEF displacement is 4.43 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.57 cm of EEF translation (+X 0.43 cm, +Y 0.23 cm, +Z 0.29 cm), 12.8° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.004301398992538452, 0.0022989511489868164, 0.0029149651527404785], "translation_norm_m": 0.005681921463741815, "orientation_delta_rad": 0.22313095957187642, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 277, "current_images": ["images/4f5d9d563b4f35c6/00277_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00277_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00277_wrist_image_left.jpg"], "current_position_m": [0.4428862929344177, -0.2977389395236969, 0.5306268930435181], "current_quaternion_xyzw": [-0.8786107760113029, 0.428398547432574, -0.10582429887009806, 0.18253494625174865], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 270, "position_m": [0.4551485478878021, -0.2551664113998413, 0.5314037799835205]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 280, "feedback_step": 281}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4471876919269562, -0.2954399883747101, 0.5335418581962585], "quaternion_xyzw": [-0.9224598014116249, 0.32596986050787247, -0.10231193880190817, 0.17984391009622364]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 281, "eef_pose": {"position_m": [0.447212278842926, -0.2954135537147522, 0.5335255265235901], "quaternion_xyzw": [-0.9230449162711857, 0.32433448561300204, -0.10194167719752145, 0.180008662119981]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00281_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00281_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00281_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 3.962362097809091e-05, "orientation_residual_rad": 0.003567098638345781, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 281, EEF displacement is 0.57 cm; remaining target position residual is 0.00 cm and orientation residual is 0.2°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 281, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.005702950928497302, "position_residual_m": 3.962362097809091e-05, "orientation_residual_rad": 0.003567098638345781}, "provenance": {"observation_step": 277, "target_command_step": 280, "feedback_step": 281, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 281, recorded EEF XYZ is (0.447, -0.295, 0.534) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 277, EEF displacement is 0.57 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.03 cm of EEF translation (+X 0.03 cm, −Y 0.00 cm, +Z 0.02 cm), 2.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.0002636909484863281, -3.758072853088379e-05, 0.00022399425506591797], "translation_norm_m": 0.0003480210536347864, "orientation_delta_rad": 0.03404110760953007, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Compare the next camera views and EEF state; task completion cannot be assessed without a task instruction.", "evidence": {"current_observation_step": 281, "current_images": ["images/4f5d9d563b4f35c6/00281_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00281_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00281_wrist_image_left.jpg"], "current_position_m": [0.447212278842926, -0.2954135537147522, 0.5335255265235901], "current_quaternion_xyzw": [-0.9230449162711857, 0.32433448561300204, -0.10194167719752145, 0.180008662119981], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 277, "position_m": [0.4428862929344177, -0.2977389395236969, 0.5306268930435181]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/4f5d9d563b4f35c6/00000_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 281, "feedback_step": 282}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.44747596979141235, -0.2954511344432831, 0.533749520778656], "quaternion_xyzw": [-0.9284837282199203, 0.3086208104992336, -0.09863094695804572, 0.1815023362378361]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 282, "eef_pose": {"position_m": [0.44749000668525696, -0.2954949736595154, 0.5337867736816406], "quaternion_xyzw": [-0.9286962259729429, 0.30798538355628025, -0.09856534205150513, 0.18153015376397716]}, "gripper_closure": 0.0, "images": ["images/4f5d9d563b4f35c6/00282_exterior_image_1_left.jpg", "images/4f5d9d563b4f35c6/00282_exterior_image_2_left.jpg", "images/4f5d9d563b4f35c6/00282_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 5.921731280977838e-05, "orientation_residual_rad": 0.0013475912296684958, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "failure", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 282, EEF displacement is 0.04 cm; remaining target position residual is 0.01 cm and orientation residual is 0.1°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 282, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.00038988721369200805, "position_residual_m": 5.921731280977838e-05, "orientation_residual_rad": 0.0013475912296684958}, "provenance": {"observation_step": 281, "target_command_step": 281, "feedback_step": 282, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "010f87441d190fda", "decision_index": 0, "split": "test", "task": "Take the lid off the smaller pot", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.4094870984554291, 0.004624233115464449, 0.48710042238235474], "quaternion_xyzw": [0.9921957151701154, 0.04201959923690887, 0.0012364888121628385, 0.11739031976040577]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00000_exterior_image_1_left.jpg", "images/010f87441d190fda/00000_exterior_image_2_left.jpg", "images/010f87441d190fda/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with lid", "intent": "Align the end effector for a candidate interaction with lid.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with lid. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "010f87441d190fda", "decision_index": 23, "split": "test", "task": "Take the lid off the smaller pot", "instruction_available": true, "observation": {"source_step": 150, "eef_pose": {"position_m": [0.3863140940666199, -0.10069762915372849, 0.29701370000839233], "quaternion_xyzw": [0.9994226677880346, 0.016033866993003906, -0.026896751636038455, 0.013183738928247314]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00150_exterior_image_1_left.jpg", "images/010f87441d190fda/00150_exterior_image_2_left.jpg", "images/010f87441d190fda/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38499313592910767, -0.08974187821149826, 0.3059113621711731], "quaternion_xyzw": [0.9994783508948167, 0.023284089898927, -0.007532187538976816, 0.021074709986944974]}, "gripper_closure": 0.9966960549354553, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 147, "eef_pose": {"position_m": [0.4215751588344574, -0.052020084112882614, 0.31773707270622253], "quaternion_xyzw": [0.9968002478591557, 0.07880300436492503, 0.00020848529296319066, 0.013390627500977583]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00147_exterior_image_1_left.jpg", "images/010f87441d190fda/00147_exterior_image_2_left.jpg", "images/010f87441d190fda/00147_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05386117100715637, "orientation_residual_rad": 0.11330213538801365, "gripper_residual": 0.009911894798278809, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3622826933860779, -0.12682363390922546, 0.28579676151275635], "quaternion_xyzw": [0.9987491654953149, -0.030519188338556567, -0.03324224868200315, 0.021532219303444778]}, "gripper_closure": 0.9966960549354553, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.3863140940666199, -0.10069762915372849, 0.29701370000839233], "quaternion_xyzw": [0.9994226677880346, 0.016033866993003906, -0.026896751636038455, 0.013183738928247314]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00150_exterior_image_1_left.jpg", "images/010f87441d190fda/00150_exterior_image_2_left.jpg", "images/010f87441d190fda/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.03722762316465378, "orientation_residual_rad": 0.09545753913297093, "gripper_residual": 0.009911894798278809, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 23, "subgoal": {"id": "sg-007", "phase": "lower_with_closure", "title": "Lower / position candidate interaction: lid", "intent": "Lower the candidate interaction toward its next position; contact is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.99 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 154, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05464983566343548, "position_residual_m": 0.021471194922924042, "orientation_residual_rad": 0.07227734749861699}, "provenance": {"observation_step": 150, "target_command_step": 153, "feedback_step": 154, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 1.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 154, recorded EEF XYZ is (0.358, -0.143, 0.278) m in robot-base coordinates.", "Recorded gripper closure is 0.99 (0 open, 1 closed).", "Since the prior decision observation at frame 150, EEF displacement is 5.46 cm."], "task_context": "The instruction requests: Take the lid off the smaller pot.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.32 cm of EEF translation (+X 5.86 cm, +Y 1.81 cm, −Z 8.29 cm), 6.8° orientation change, and gripper closure 1.00.", "intent": "Lower the candidate interaction toward its next position; contact is unverified.", "translation_delta_m": [0.05863216519355774, 0.01808096468448639, -0.08294051885604858], "translation_norm_m": 0.10316870527110844, "orientation_delta_rad": 0.11909930758744008, "gripper_from": 0.9867841601371765, "gripper_target": 0.9966960549354553, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect object retention, contact, and position relative to the task destination.", "evidence": {"current_observation_step": 154, "current_images": ["images/010f87441d190fda/00154_exterior_image_1_left.jpg", "images/010f87441d190fda/00154_exterior_image_2_left.jpg", "images/010f87441d190fda/00154_wrist_image_left.jpg"], "current_position_m": [0.35781341791152954, -0.14338399469852448, 0.2782469689846039], "current_quaternion_xyzw": [0.99745378634759, -0.04645125695872548, -0.05180305434910156, 0.01564187929612817], "current_gripper_closure": 0.9867841601371765, "previous_observation": {"source_step": 150, "position_m": [0.3863140940666199, -0.10069762915372849, 0.29701370000839233]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/010f87441d190fda/00000_exterior_image_1_left.jpg", "images/010f87441d190fda/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 162, "feedback_step": 163}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4164455831050873, -0.12530303001403809, 0.1953064501285553], "quaternion_xyzw": [0.9933573465113611, -0.0773217524521134, -0.05346537879175379, 0.06636250447576661]}, "gripper_closure": 0.9966960549354553, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 163, "eef_pose": {"position_m": [0.3838224411010742, -0.13636788725852966, 0.22426511347293854], "quaternion_xyzw": [0.9942001500162169, -0.08110148946810171, -0.049742949869436, 0.05014228806181517]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00163_exterior_image_1_left.jpg", "images/010f87441d190fda/00163_exterior_image_2_left.jpg", "images/010f87441d190fda/00163_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.04500338435173035, "orientation_residual_rad": 0.03417342419862964, "gripper_residual": 0.009911894798278809, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 163, EEF displacement is 6.03 cm; remaining target position residual is 4.50 cm and orientation residual is 2.0°. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 1.00 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 177, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05115178345547637, "position_residual_m": 0.013706311583518982, "orientation_residual_rad": 0.023863866328314783}, "provenance": {"observation_step": 168, "target_command_step": 176, "feedback_step": 177, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "010f87441d190fda", "decision_index": 27, "split": "test", "task": "Take the lid off the smaller pot", "instruction_available": true, "observation": {"source_step": 177, "eef_pose": {"position_m": [0.42249590158462524, -0.12834306061267853, 0.13755331933498383], "quaternion_xyzw": [0.9866468615293026, -0.09531347047199225, -0.11069370518302953, 0.07204315799445674]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00177_exterior_image_1_left.jpg", "images/010f87441d190fda/00177_exterior_image_2_left.jpg", "images/010f87441d190fda/00177_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.438721626996994, -0.10957831889390945, 0.16274593770503998], "quaternion_xyzw": [0.9918582753245472, -0.07531123679426902, -0.0755754841221135, 0.0695249989747601]}, "gripper_closure": 0.9966960549354553, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 168, "eef_pose": {"position_m": [0.41903504729270935, -0.1097988709807396, 0.1850995123386383], "quaternion_xyzw": [0.9933925694558019, -0.06963265733639624, -0.06852964018275658, 0.06021780798645463]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00168_exterior_image_1_left.jpg", "images/010f87441d190fda/00168_exterior_image_2_left.jpg", "images/010f87441d190fda/00168_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02978745475411415, "orientation_residual_rad": 0.026143486921012035, "gripper_residual": 0.009911894798278809, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4323623478412628, -0.1256931871175766, 0.1284157931804657], "quaternion_xyzw": [0.9867219915133547, -0.09635890552453988, -0.10273523708335106, 0.08087115586820538]}, "gripper_closure": 0.9966960549354553, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 177, "eef_pose": {"position_m": [0.42249590158462524, -0.12834306061267853, 0.13755331933498383], "quaternion_xyzw": [0.9866468615293026, -0.09531347047199225, -0.11069370518302953, 0.07204315799445674]}, "gripper_closure": 0.9867841601371765, "images": ["images/010f87441d190fda/00177_exterior_image_1_left.jpg", "images/010f87441d190fda/00177_exterior_image_2_left.jpg", "images/010f87441d190fda/00177_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.013706311583518982, "orientation_residual_rad": 0.023863866328314783, "gripper_residual": 0.009911894798278809, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 27, "subgoal": {"id": "sg-008", "phase": "open_gripper", "title": "Open gripper / inspect release: lid", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.99 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 188, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03506712419236333, "position_residual_m": 0.00814435351639986, "orientation_residual_rad": 0.02141672525007399}, "provenance": {"observation_step": 177, "target_command_step": 187, "feedback_step": 188, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.00 while requesting the labeled pose. 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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 200, recorded EEF XYZ is (0.484, -0.051, 0.216) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 197, EEF displacement is 6.17 cm."], "task_context": "The instruction requests: Take the lid off the smaller pot.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.92 cm of EEF translation (−X 1.21 cm, +Y 5.49 cm, +Z 8.17 cm), 9.4° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.012148499488830566, 0.05493750795722008, 0.08167800307273865], "translation_norm_m": 0.09918171205585251, "orientation_delta_rad": 0.16346792595861798, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 200, "current_images": ["images/010f87441d190fda/00200_exterior_image_1_left.jpg", "images/010f87441d190fda/00200_exterior_image_2_left.jpg", "images/010f87441d190fda/00200_wrist_image_left.jpg"], "current_position_m": [0.4844037890434265, -0.05080116540193558, 0.21637436747550964], "current_quaternion_xyzw": [0.9971647746723232, -0.014423510536426121, -0.0031923974462678265, 0.07378470773165374], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 197, "position_m": [0.4698244035243988, -0.08452948182821274, 0.16687044501304626]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/010f87441d190fda/00000_exterior_image_1_left.jpg", "images/010f87441d190fda/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 202, "feedback_step": 203}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47225528955459595, 0.0041363425552845, 0.2980523705482483], "quaternion_xyzw": [0.9959279813787196, 0.04382612087097406, 0.05216704733203069, 0.05903665140376049]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 203, "eef_pose": {"position_m": [0.48770156502723694, -0.017130712047219276, 0.2606869041919708], "quaternion_xyzw": [0.9970598100089513, 0.015920211436989674, 0.0327123595929545, 0.06744022288350494]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00203_exterior_image_1_left.jpg", "images/010f87441d190fda/00203_exterior_image_2_left.jpg", "images/010f87441d190fda/00203_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04568427428603172, "orientation_residual_rad": 0.0701213697098349, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 203, EEF displacement is 5.58 cm; remaining target position residual is 4.57 cm and orientation residual is 4.0°. 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{"episode_id": "010f87441d190fda", "decision_index": 31, "split": "test", "task": "Take the lid off the smaller pot", "instruction_available": true, "observation": {"source_step": 203, "eef_pose": {"position_m": [0.48770156502723694, -0.017130712047219276, 0.2606869041919708], "quaternion_xyzw": [0.9970598100089513, 0.015920211436989674, 0.0327123595929545, 0.06744022288350494]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00203_exterior_image_1_left.jpg", "images/010f87441d190fda/00203_exterior_image_2_left.jpg", "images/010f87441d190fda/00203_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4741397798061371, -0.02390756458044052, 0.2638150751590729], "quaternion_xyzw": [0.9972925307521134, 0.016829907377085538, 0.02093327496086602, 0.0684555353725067]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 200, "eef_pose": {"position_m": [0.4844037890434265, -0.05080116540193558, 0.21637436747550964], "quaternion_xyzw": [0.9971647746723232, -0.014423510536426121, -0.0031923974462678265, 0.07378470773165374]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00200_exterior_image_1_left.jpg", "images/010f87441d190fda/00200_exterior_image_2_left.jpg", "images/010f87441d190fda/00200_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.05549086630344391, "orientation_residual_rad": 0.0796856471105859, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.47225528955459595, 0.0041363425552845, 0.2980523705482483], "quaternion_xyzw": [0.9959279813787196, 0.04382612087097406, 0.05216704733203069, 0.05903665140376049]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 203, "eef_pose": {"position_m": [0.48770156502723694, -0.017130712047219276, 0.2606869041919708], "quaternion_xyzw": [0.9970598100089513, 0.015920211436989674, 0.0327123595929545, 0.06744022288350494]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00203_exterior_image_1_left.jpg", "images/010f87441d190fda/00203_exterior_image_2_left.jpg", "images/010f87441d190fda/00203_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.04568427428603172, "orientation_residual_rad": 0.0701213697098349, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 31, "subgoal": {"id": "sg-009", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 203, recorded EEF XYZ is (0.488, -0.017, 0.261) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 200, EEF displacement is 5.58 cm."], "task_context": "The instruction requests: Take the lid off the smaller pot.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.79 cm of EEF translation (−X 0.87 cm, +Y 2.15 cm, +Z 2.99 cm), 3.6° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.008677542209625244, 0.021525271236896515, 0.029929518699645996], "translation_norm_m": 0.03787364690935178, "orientation_delta_rad": 0.06210976589782852, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 203, "current_images": ["images/010f87441d190fda/00203_exterior_image_1_left.jpg", "images/010f87441d190fda/00203_exterior_image_2_left.jpg", "images/010f87441d190fda/00203_wrist_image_left.jpg"], "current_position_m": [0.48770156502723694, -0.017130712047219276, 0.2606869041919708], "current_quaternion_xyzw": [0.9970598100089513, 0.015920211436989674, 0.0327123595929545, 0.06744022288350494], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 200, "position_m": [0.4844037890434265, -0.05080116540193558, 0.21637436747550964]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/010f87441d190fda/00000_exterior_image_1_left.jpg", "images/010f87441d190fda/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 209, "feedback_step": 210}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4790240228176117, 0.0043945591896772385, 0.2906164228916168], "quaternion_xyzw": [0.9957041859921397, 0.03838790793179549, 0.05393440075687845, 0.06473502094961052]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 210, "eef_pose": {"position_m": [0.47900620102882385, 0.004395404364913702, 0.2905983030796051], "quaternion_xyzw": [0.9957048330926845, 0.0384061658981846, 0.05390922889561697, 0.06473520538895496]}, "gripper_closure": 0.0, "images": ["images/010f87441d190fda/00210_exterior_image_1_left.jpg", "images/010f87441d190fda/00210_exterior_image_2_left.jpg", "images/010f87441d190fda/00210_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 7, "position_residual_m": 2.5429471861571074e-05, "orientation_residual_rad": 6.220703153496459e-05, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 210, EEF displacement is 3.79 cm; remaining target position residual is 0.00 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 210, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03786389871987258, "position_residual_m": 2.5429471861571074e-05, "orientation_residual_rad": 6.220703153496459e-05}, "provenance": {"observation_step": 203, "target_command_step": 209, "feedback_step": 210, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "15b6d71d23d50dfb", "decision_index": 0, "split": "test", "task": "Move the orange objects from the pullout table to the desk", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.3391573429107666, 0.09431576728820801, 0.47311556339263916], "quaternion_xyzw": [-0.9874360827132457, -0.116746674586154, 0.06441238039237165, 0.0848011897391961]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00000_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00000_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00000_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 0, "subgoal": {"id": "sg-001", "phase": "approach_open", "title": "Approach / align with orange objects", "intent": "Align the end effector for a candidate interaction with orange objects.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Align the end effector for a candidate interaction with orange objects. Maintain closure toward 0.00 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 6, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.061609291000441484, "position_residual_m": 0.06892704963684082, "orientation_residual_rad": 0.14740387371544547}, "provenance": {"observation_step": 0, "target_command_step": 5, "feedback_step": 6, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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{"episode_id": "15b6d71d23d50dfb", "decision_index": 18, "split": "test", "task": "Move the orange objects from the pullout table to the desk", "instruction_available": true, "observation": {"source_step": 125, "eef_pose": {"position_m": [0.3845011591911316, -0.4636021852493286, -0.00017922509869094938], "quaternion_xyzw": [0.822348606844307, -0.5689448120555468, 0.005844914905242215, 0.003225930262173149]}, "gripper_closure": 0.19823786616325378, "images": ["images/15b6d71d23d50dfb/00125_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00125_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.37915509939193726, -0.46525800228118896, -0.02120683528482914], "quaternion_xyzw": [-0.8148209499652525, 0.5796841089347113, 0.005186205569376703, 0.002501323266927052]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.36846283078193665, -0.4594344198703766, -0.002680014818906784], "quaternion_xyzw": [-0.8186764308068798, 0.5739348533252766, -0.017449013219926937, 0.007950957014882003]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00119_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00119_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.022169388830661774, "orientation_residual_rad": 0.04857980312455115, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3921586275100708, -0.4703717827796936, -0.001500156824477017], "quaternion_xyzw": [0.8155081694452775, -0.5786899111695933, 0.005731793809807875, 0.005617723583681978]}, "gripper_closure": 0.4482378661632538, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 125, "eef_pose": {"position_m": [0.3845011591911316, -0.4636021852493286, -0.00017922509869094938], "quaternion_xyzw": [0.822348606844307, -0.5689448120555468, 0.005844914905242215, 0.003225930262173149]}, "gripper_closure": 0.19823786616325378, "images": ["images/15b6d71d23d50dfb/00125_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00125_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.010305781848728657, "orientation_residual_rad": 0.02428940716343669, "gripper_residual": 0.25, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 18, "subgoal": {"id": "sg-002", "phase": "close_gripper", "title": "Attempt grasp: orange objects", "intent": "Attempt to acquire orange objects; closure alone cannot verify a grasp.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.20 (0 open, 1 closed). 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Open the gripper for release or clearance; verify the result in the next images. Decrease closure toward 0.54 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of orange objects remains unverified. Increase closure toward 0.79 while requesting the labeled pose. 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Reposition the candidate interaction with orange objects; object attachment is unverified. Increase closure toward 0.79 while requesting the labeled pose. 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Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of orange objects remains unverified. Maintain closure toward 0.91 while requesting the labeled pose. 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Reposition the candidate interaction with orange objects; object attachment is unverified. Maintain closure toward 0.92 while requesting the labeled pose. 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{"episode_id": "15b6d71d23d50dfb", "decision_index": 56, "split": "test", "task": "Move the orange objects from the pullout table to the desk", "instruction_available": true, "observation": {"source_step": 396, "eef_pose": {"position_m": [0.44121095538139343, -0.07287194579839706, 0.2739957571029663], "quaternion_xyzw": [-0.9785752188305162, -0.17175920307523293, -0.11197511211964387, 0.01873209853596981]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00396_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00396_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00396_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4253338575363159, -0.0769398957490921, 0.2836090624332428], "quaternion_xyzw": [-0.9783888793390058, -0.1763845317355918, -0.10658272387862695, 0.016846979574776717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 393, "eef_pose": {"position_m": [0.46307292580604553, -0.10854034870862961, 0.24265708029270172], "quaternion_xyzw": [-0.9821781764227854, -0.15683588010712676, -0.1001497932461699, 0.026430198307702057]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00393_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00393_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00393_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.06403038650751114, "orientation_residual_rad": 0.046032710837342894, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}, {"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.41974490880966187, -0.05607042461633682, 0.2976263761520386], "quaternion_xyzw": [-0.9809496617905692, -0.1489471977408773, -0.12405098221563043, 0.012800278490932748]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 396, "eef_pose": {"position_m": [0.44121095538139343, -0.07287194579839706, 0.2739957571029663], "quaternion_xyzw": [-0.9785752188305162, -0.17175920307523293, -0.11197511211964387, 0.01873209853596981]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00396_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00396_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00396_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.036076147109270096, "orientation_residual_rad": 0.05318196524904611, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "not_yet_reported", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}}], "generated_annotation": {"version": "embodiedtrace-v1.0", "generated": true, "label_kind": "posthoc_weak_supervision", "turn": 56, "subgoal": {"id": "sg-015", "phase": "reposition_open", "title": "Reposition after opening", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.00 (0 open, 1 closed). Reposition with open fingers after a prior opening; inspect placement before assuming completion. Maintain closure toward 0.00 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 396, recorded EEF XYZ is (0.441, -0.073, 0.274) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 393, EEF displacement is 5.23 cm."], "task_context": "The instruction requests: Move the orange objects from the pullout table to the desk.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.84 cm of EEF translation (−X 1.30 cm, +Y 1.58 cm, +Z 1.96 cm), 2.4° orientation change, and gripper closure 0.00.", "intent": "Reposition with open fingers after a prior opening; inspect placement before assuming completion.", "translation_delta_m": [-0.012973099946975708, 0.015807751566171646, 0.019635766744613647], "translation_norm_m": 0.02835047913988225, "orientation_delta_rad": 0.04135765644231485, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect where the object ended up and whether it is stable at the requested destination.", "evidence": {"current_observation_step": 396, "current_images": ["images/15b6d71d23d50dfb/00396_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00396_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00396_wrist_image_left.jpg"], "current_position_m": [0.44121095538139343, -0.07287194579839706, 0.2739957571029663], "current_quaternion_xyzw": [-0.9785752188305162, -0.17175920307523293, -0.11197511211964387, 0.01873209853596981], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 393, "position_m": [0.46307292580604553, -0.10854034870862961, 0.24265708029270172]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/15b6d71d23d50dfb/00000_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 399, "feedback_step": 400}, "provenance": {"generator": "deterministic_state_action_templates_with_assistant_scene_review", "semantic_phase_grounding": "gripper/pose/action heuristic plus task instruction; no per-decision object localization", "visual_review": "sampled episode contact sheet; initial scene text only", "future_feedback_used_for_thinking": false, "future_outcome_used_for_thinking": false, "action_used_as_annotation_label": true, "needs_human_review_before_reasoning_sft": true}}, "action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4282378554344177, -0.05706419423222542, 0.29363152384757996], "quaternion_xyzw": [-0.9788877272037819, -0.15884966267624512, -0.127730675436241, 0.01518146073535379]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 400, "eef_pose": {"position_m": [0.4281720519065857, -0.05710412189364433, 0.293655127286911], "quaternion_xyzw": [-0.9788992197468221, -0.1587649405884765, -0.12774858113622298, 0.015176008588625584]}, "gripper_closure": 0.0, "images": ["images/15b6d71d23d50dfb/00400_exterior_image_1_left.jpg", "images/15b6d71d23d50dfb/00400_exterior_image_2_left.jpg", "images/15b6d71d23d50dfb/00400_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 8.050742326304317e-05, "orientation_residual_rad": 0.00017504571633812464, "gripper_residual": 0.0, "object_outcome": "unknown", "task_success": "unverified", "recorded_episode_outcome": "success", "execution_note": "Recorded dense commands; the sparse target was not separately executed."}, "progress_annotation": {"text": "By recorded frame 400, EEF displacement is 2.84 cm; remaining target position residual is 0.01 cm and orientation residual is 0.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 400, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.02837477948013022, "position_residual_m": 8.050742326304317e-05, "orientation_residual_rad": 0.00017504571633812464}, "provenance": {"observation_step": 396, "target_command_step": 399, "feedback_step": 400, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}