{"episode_id": "ecf14f7ce6a917e6", "decision_index": 0, "split": "validation", "task": "Remove the blue block from the white plate and put it inside the white mug on the right", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.3307892978191376, -0.12634983658790588, 0.4011536240577698], "quaternion_xyzw": [-0.9895097373493486, 0.03509385282100418, -0.11470820851531933, 0.08050421159297752]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00000_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00000_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00000_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 blue block", "intent": "Align the end effector for a candidate interaction with blue block.", "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": "ecf14f7ce6a917e6", "decision_index": 1, "split": "validation", "task": "Remove the blue block from the white plate and put it inside the white mug on the right", "instruction_available": true, "observation": {"source_step": 11, "eef_pose": {"position_m": [0.35240545868873596, -0.11740212887525558, 0.40652915835380554], "quaternion_xyzw": [-0.9763351371478778, 0.12626995329268317, -0.15984094349599984, 0.07263932576922015]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00011_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00011_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00011_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.392493337392807, -0.11202771216630936, 0.39909476041793823], "quaternion_xyzw": [-0.9628649671178597, 0.1948930404379606, -0.17771299979623756, 0.057670162037163665]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 11, "eef_pose": {"position_m": [0.35240545868873596, -0.11740212887525558, 0.40652915835380554], "quaternion_xyzw": [-0.9763351371478778, 0.12626995329268317, -0.15984094349599984, 0.07263932576922015]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00011_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00011_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00011_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.04112411290407181, "orientation_residual_rad": 0.14746555345862808, "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 blue block", "intent": "Align the end effector for a candidate interaction with blue block.", "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 blue block. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "ecf14f7ce6a917e6", "decision_index": 23, "split": "validation", "task": "Remove the blue block from the white plate and put it inside the white mug on the right", "instruction_available": true, "observation": {"source_step": 169, "eef_pose": {"position_m": [0.4683777987957001, -0.2380218505859375, 0.3895425796508789], "quaternion_xyzw": [0.755251770025551, -0.5283784482726325, 0.34210311274901467, 0.18269219885291302]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00169_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00169_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00169_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46676185727119446, -0.241678848862648, 0.39308762550354004], "quaternion_xyzw": [0.7419228644098005, -0.5477268531754473, 0.32285529746997615, 0.21286196107348995]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 165, "eef_pose": {"position_m": [0.5281625390052795, -0.25427109003067017, 0.3650924563407898], "quaternion_xyzw": [0.7018192741258189, -0.5746808680479758, 0.32377896334947026, 0.2689958907817662]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00165_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00165_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00165_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.06864646822214127, "orientation_residual_rad": 0.1481782518040454, "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": [0.3987608253955841, -0.21842002868652344, 0.4052187204360962], "quaternion_xyzw": [0.7814148612045404, -0.4916839588755669, 0.3624404257002822, 0.1275720858626091]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 169, "eef_pose": {"position_m": [0.4683777987957001, -0.2380218505859375, 0.3895425796508789], "quaternion_xyzw": [0.755251770025551, -0.5283784482726325, 0.34210311274901467, 0.18269219885291302]}, "gripper_closure": 0.0, "images": ["images/ecf14f7ce6a917e6/00169_exterior_image_1_left.jpg", "images/ecf14f7ce6a917e6/00169_exterior_image_2_left.jpg", "images/ecf14f7ce6a917e6/00169_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07400335371494293, "orientation_residual_rad": 0.1481260678527268, "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-008", "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. 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Describe this motion phase without assigning an unavailable task intent. Maintain closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "8d165c28c7a46cca", "decision_index": 1, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 14, "eef_pose": {"position_m": [0.3599587678909302, 0.12583746016025543, 0.45009493827819824], "quaternion_xyzw": [0.9984894559028855, -0.0018642550666593963, -0.04160999319011024, 0.035832101117921046]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00014_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00014_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00014_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38941386342048645, 0.11549830436706543, 0.43572238087654114], "quaternion_xyzw": [0.9997454258532699, -0.004306778465749093, -0.013772144264678264, 0.017345408241496742]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 14, "eef_pose": {"position_m": [0.3599587678909302, 0.12583746016025543, 0.45009493827819824], "quaternion_xyzw": [0.9984894559028855, -0.0018642550666593963, -0.04160999319011024, 0.035832101117921046]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00014_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00014_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00014_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.03436671569943428, "orientation_residual_rad": 0.06706272797255064, "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": "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 14, recorded EEF XYZ is (0.360, 0.126, 0.450) 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 6.21 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.82 cm of EEF translation (+X 6.47 cm, −Y 0.42 cm, −Z 4.36 cm), 12.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.06471624970436096, -0.004214204847812653, -0.04364517331123352], "translation_norm_m": 0.07817194926355706, "orientation_delta_rad": 0.20868322809109893, "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": 14, "current_images": ["images/8d165c28c7a46cca/00014_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00014_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00014_wrist_image_left.jpg"], "current_position_m": [0.3599587678909302, 0.12583746016025543, 0.45009493827819824], "current_quaternion_xyzw": [0.9984894559028855, -0.0018642550666593963, -0.04160999319011024, 0.035832101117921046], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 0, "position_m": [0.3151245415210724, 0.16883718967437744, 0.44990456104278564]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 19, "feedback_step": 20}, "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": [0.42467501759529114, 0.12162325531244278, 0.4064497649669647], "quaternion_xyzw": [-0.9985420999832955, -0.01565529909420987, -0.05084256119547151, 0.009144404972768206]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 20, "eef_pose": {"position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786], "quaternion_xyzw": [-0.999465183497137, -0.0038067259903760494, -0.03234764193432241, 0.0029130526183559677]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00020_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00020_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00020_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.023863965645432472, "orientation_residual_rad": 0.04570143448634729, "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 20, EEF displacement is 5.75 cm; remaining target position residual is 2.39 cm and orientation residual is 2.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 20, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05745105986738558, "position_residual_m": 0.023863965645432472, "orientation_residual_rad": 0.04570143448634729}, "provenance": {"observation_step": 14, "target_command_step": 19, "feedback_step": 20, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 2, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 20, "eef_pose": {"position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786], "quaternion_xyzw": [-0.999465183497137, -0.0038067259903760494, -0.03234764193432241, 0.0029130526183559677]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00020_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00020_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00020_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.38941386342048645, 0.11549830436706543, 0.43572238087654114], "quaternion_xyzw": [0.9997454258532699, -0.004306778465749093, -0.013772144264678264, 0.017345408241496742]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 14, "eef_pose": {"position_m": [0.3599587678909302, 0.12583746016025543, 0.45009493827819824], "quaternion_xyzw": [0.9984894559028855, -0.0018642550666593963, -0.04160999319011024, 0.035832101117921046]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00014_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00014_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00014_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.03436671569943428, "orientation_residual_rad": 0.06706272797255064, "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": [0.42467501759529114, 0.12162325531244278, 0.4064497649669647], "quaternion_xyzw": [-0.9985420999832955, -0.01565529909420987, -0.05084256119547151, 0.009144404972768206]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 20, "eef_pose": {"position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786], "quaternion_xyzw": [-0.999465183497137, -0.0038067259903760494, -0.03234764193432241, 0.0029130526183559677]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00020_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00020_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00020_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.023863965645432472, "orientation_residual_rad": 0.04570143448634729, "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": "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 20, recorded EEF XYZ is (0.410, 0.115, 0.424) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 14, EEF displacement is 5.75 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.11 cm of EEF translation (+X 5.89 cm, −Y 1.54 cm, −Z 6.77 cm), 11.6° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.05892249941825867, -0.01542111486196518, -0.06769445538520813], "translation_norm_m": 0.09106157812810269, "orientation_delta_rad": 0.2024652529288806, "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": 20, "current_images": ["images/8d165c28c7a46cca/00020_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00020_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00020_wrist_image_left.jpg"], "current_position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786], "current_quaternion_xyzw": [-0.999465183497137, -0.0038067259903760494, -0.03234764193432241, 0.0029130526183559677], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 14, "position_m": [0.3599587678909302, 0.12583746016025543, 0.45009493827819824]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/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": [0.4690587818622589, 0.09973554313182831, 0.3565400540828705], "quaternion_xyzw": [-0.9933745140450138, -0.10223125453011175, -0.04932714783513409, 0.017963238279414397]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542], "quaternion_xyzw": [-0.9988399647222699, -0.03142755315860204, -0.03506411555319702, 0.010076784038076877]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00035_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00035_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.038684677332639694, "orientation_residual_rad": 0.14575343134575217, "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 5.32 cm; remaining target position residual is 3.87 cm and orientation residual is 8.4°. 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": 0.05319901374060607, "position_residual_m": 0.038684677332639694, "orientation_residual_rad": 0.14575343134575217}, "provenance": {"observation_step": 20, "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": "8d165c28c7a46cca", "decision_index": 3, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542], "quaternion_xyzw": [-0.9988399647222699, -0.03142755315860204, -0.03506411555319702, 0.010076784038076877]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00035_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00035_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.42467501759529114, 0.12162325531244278, 0.4064497649669647], "quaternion_xyzw": [-0.9985420999832955, -0.01565529909420987, -0.05084256119547151, 0.009144404972768206]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 20, "eef_pose": {"position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786], "quaternion_xyzw": [-0.999465183497137, -0.0038067259903760494, -0.03234764193432241, 0.0029130526183559677]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00020_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00020_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00020_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.023863965645432472, "orientation_residual_rad": 0.04570143448634729, "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": [0.4690587818622589, 0.09973554313182831, 0.3565400540828705], "quaternion_xyzw": [-0.9933745140450138, -0.10223125453011175, -0.04932714783513409, 0.017963238279414397]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542], "quaternion_xyzw": [-0.9988399647222699, -0.03142755315860204, -0.03506411555319702, 0.010076784038076877]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00035_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00035_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.038684677332639694, "orientation_residual_rad": 0.14575343134575217, "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": "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 (0.440, 0.106, 0.381) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 20, EEF displacement is 5.32 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.23 cm of EEF translation (+X 4.74 cm, −Y 0.58 cm, −Z 5.43 cm), 21.3° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.04737353324890137, -0.0057584866881370544, -0.05429539084434509], "translation_norm_m": 0.07228693719035555, "orientation_delta_rad": 0.3714047156607128, "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/8d165c28c7a46cca/00035_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00035_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00035_wrist_image_left.jpg"], "current_position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542], "current_quaternion_xyzw": [-0.9988399647222699, -0.03142755315860204, -0.03506411555319702, 0.010076784038076877], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 20, "position_m": [0.41013628244400024, 0.11515665799379349, 0.4242345094680786]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/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": [0.4871470332145691, 0.10048080235719681, 0.3266696035861969], "quaternion_xyzw": [-0.974127848663778, -0.20708355262665745, -0.08760265529911083, 0.02274008517457757]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216], "quaternion_xyzw": [-0.987978483401237, -0.13769677264149796, -0.06861247192310023, 0.015180376705120794]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00039_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00039_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02913086675107479, "orientation_residual_rad": 0.14733085388799627, "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 4.43 cm; remaining target position residual is 2.91 cm and orientation residual is 8.4°. 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": 0.044321796759399915, "position_residual_m": 0.02913086675107479, "orientation_residual_rad": 0.14733085388799627}, "provenance": {"observation_step": 35, "target_command_step": 38, "feedback_step": 39, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 4, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216], "quaternion_xyzw": [-0.987978483401237, -0.13769677264149796, -0.06861247192310023, 0.015180376705120794]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00039_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00039_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4690587818622589, 0.09973554313182831, 0.3565400540828705], "quaternion_xyzw": [-0.9933745140450138, -0.10223125453011175, -0.04932714783513409, 0.017963238279414397]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 35, "eef_pose": {"position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542], "quaternion_xyzw": [-0.9988399647222699, -0.03142755315860204, -0.03506411555319702, 0.010076784038076877]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00035_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00035_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00035_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.038684677332639694, "orientation_residual_rad": 0.14575343134575217, "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": [0.4871470332145691, 0.10048080235719681, 0.3266696035861969], "quaternion_xyzw": [-0.974127848663778, -0.20708355262665745, -0.08760265529911083, 0.02274008517457757]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216], "quaternion_xyzw": [-0.987978483401237, -0.13769677264149796, -0.06861247192310023, 0.015180376705120794]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00039_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00039_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02913086675107479, "orientation_residual_rad": 0.14733085388799627, "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": "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 (0.467, 0.097, 0.347) 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 4.43 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.04 cm of EEF translation (+X 2.78 cm, +Y 1.53 cm, −Z 3.91 cm), 17.5° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.027792423963546753, 0.01525890827178955, -0.03913378715515137], "translation_norm_m": 0.050365726526290726, "orientation_delta_rad": 0.30481633523912516, "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/8d165c28c7a46cca/00039_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00039_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00039_wrist_image_left.jpg"], "current_position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216], "current_quaternion_xyzw": [-0.987978483401237, -0.13769677264149796, -0.06861247192310023, 0.015180376705120794], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 35, "position_m": [0.4397734999656677, 0.10623928904533386, 0.380964994430542]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 42, "feedback_step": 43}, "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": [0.49431082606315613, 0.11205800622701645, 0.3077722191810608], "quaternion_xyzw": [-0.9532572850042951, -0.2775535500639106, -0.11634506400907677, 0.02698891464813589]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 43, "eef_pose": {"position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628], "quaternion_xyzw": [-0.9659422974295041, -0.23810932149754205, -0.10041165068101914, 0.013301483379858939]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00043_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00043_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00043_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.01874408684670925, "orientation_residual_rad": 0.09291639954026319, "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 43, EEF displacement is 3.22 cm; remaining target position residual is 1.87 cm and orientation residual is 5.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 43, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.03216761319903831, "position_residual_m": 0.01874408684670925, "orientation_residual_rad": 0.09291639954026319}, "provenance": {"observation_step": 39, "target_command_step": 42, "feedback_step": 43, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 5, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 43, "eef_pose": {"position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628], "quaternion_xyzw": [-0.9659422974295041, -0.23810932149754205, -0.10041165068101914, 0.013301483379858939]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00043_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00043_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00043_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.4871470332145691, 0.10048080235719681, 0.3266696035861969], "quaternion_xyzw": [-0.974127848663778, -0.20708355262665745, -0.08760265529911083, 0.02274008517457757]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 39, "eef_pose": {"position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216], "quaternion_xyzw": [-0.987978483401237, -0.13769677264149796, -0.06861247192310023, 0.015180376705120794]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00039_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00039_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00039_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02913086675107479, "orientation_residual_rad": 0.14733085388799627, "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": [0.49431082606315613, 0.11205800622701645, 0.3077722191810608], "quaternion_xyzw": [-0.9532572850042951, -0.2775535500639106, -0.11634506400907677, 0.02698891464813589]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 43, "eef_pose": {"position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628], "quaternion_xyzw": [-0.9659422974295041, -0.23810932149754205, -0.10041165068101914, 0.013301483379858939]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00043_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00043_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00043_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.01874408684670925, "orientation_residual_rad": 0.09291639954026319, "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": "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 43, recorded EEF XYZ is (0.482, 0.105, 0.320) 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 3.22 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 3.23 cm, +Y 0.51 cm, −Z 3.64 cm), 16.4° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.03227794170379639, 0.005101792514324188, -0.0363641083240509], "translation_norm_m": 0.04889010310580456, "orientation_delta_rad": 0.28604683934486297, "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": 43, "current_images": ["images/8d165c28c7a46cca/00043_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00043_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00043_wrist_image_left.jpg"], "current_position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628], "current_quaternion_xyzw": [-0.9659422974295041, -0.23810932149754205, -0.10041165068101914, 0.013301483379858939], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 39, "position_m": [0.4665184020996094, 0.0967990979552269, 0.34690600633621216]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 53, "feedback_step": 54}, "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": [0.5138996839523315, 0.11043024063110352, 0.2834514081478119], "quaternion_xyzw": [-0.9193356685998288, -0.3636046241612427, -0.14712074961098223, 0.031130222655325335]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 54, "eef_pose": {"position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092], "quaternion_xyzw": [-0.9372029096902346, -0.3245011077462925, -0.12757586272417745, 0.008610249111900429]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00054_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00054_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00054_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.026011358946561813, "orientation_residual_rad": 0.10465371127442509, "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 54, EEF displacement is 2.34 cm; remaining target position residual is 2.60 cm and orientation residual is 6.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 54, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.023423644153329027, "position_residual_m": 0.026011358946561813, "orientation_residual_rad": 0.10465371127442509}, "provenance": {"observation_step": 43, "target_command_step": 53, "feedback_step": 54, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 6, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 54, "eef_pose": {"position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092], "quaternion_xyzw": [-0.9372029096902346, -0.3245011077462925, -0.12757586272417745, 0.008610249111900429]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00054_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00054_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00054_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.49431082606315613, 0.11205800622701645, 0.3077722191810608], "quaternion_xyzw": [-0.9532572850042951, -0.2775535500639106, -0.11634506400907677, 0.02698891464813589]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 43, "eef_pose": {"position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628], "quaternion_xyzw": [-0.9659422974295041, -0.23810932149754205, -0.10041165068101914, 0.013301483379858939]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00043_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00043_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00043_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.01874408684670925, "orientation_residual_rad": 0.09291639954026319, "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": [0.5138996839523315, 0.11043024063110352, 0.2834514081478119], "quaternion_xyzw": [-0.9193356685998288, -0.3636046241612427, -0.14712074961098223, 0.031130222655325335]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 54, "eef_pose": {"position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092], "quaternion_xyzw": [-0.9372029096902346, -0.3245011077462925, -0.12757586272417745, 0.008610249111900429]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00054_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00054_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00054_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.026011358946561813, "orientation_residual_rad": 0.10465371127442509, "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": "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 54, recorded EEF XYZ is (0.496, 0.111, 0.302) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 43, EEF displacement is 2.34 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.94 cm of EEF translation (+X 3.83 cm, +Y 0.72 cm, −Z 5.75 cm), 13.6° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.03825220465660095, 0.007185056805610657, -0.05746501684188843], "translation_norm_m": 0.06940521855760456, "orientation_delta_rad": 0.23792843424575535, "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": 54, "current_images": ["images/8d165c28c7a46cca/00054_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00054_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00054_wrist_image_left.jpg"], "current_position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092], "current_quaternion_xyzw": [-0.9372029096902346, -0.3245011077462925, -0.12757586272417745, 0.008610249111900429], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 43, "position_m": [0.48162174224853516, 0.10532844811677933, 0.3198155164718628]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/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": [0.5341691374778748, 0.11842828243970871, 0.24476271867752075], "quaternion_xyzw": [-0.9225574825769547, -0.3180881485361293, -0.18930238339539635, 0.10895975744719534]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.5222069621086121, 0.12162511795759201, 0.2608282268047333], "quaternion_xyzw": [-0.9267083364460736, -0.3219527669722731, -0.17086867272038503, 0.09144381708471]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00062_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00062_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.02028334140777588, "orientation_residual_rad": 0.052108084501369695, "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 5.01 cm; remaining target position residual is 2.03 cm and orientation residual is 3.0°. 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": 0.05012852132231961, "position_residual_m": 0.02028334140777588, "orientation_residual_rad": 0.052108084501369695}, "provenance": {"observation_step": 54, "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": "8d165c28c7a46cca", "decision_index": 7, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 62, "eef_pose": {"position_m": [0.5222069621086121, 0.12162511795759201, 0.2608282268047333], "quaternion_xyzw": [-0.9267083364460736, -0.3219527669722731, -0.17086867272038503, 0.09144381708471]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00062_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00062_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5138996839523315, 0.11043024063110352, 0.2834514081478119], "quaternion_xyzw": [-0.9193356685998288, -0.3636046241612427, -0.14712074961098223, 0.031130222655325335]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 54, "eef_pose": {"position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092], "quaternion_xyzw": [-0.9372029096902346, -0.3245011077462925, -0.12757586272417745, 0.008610249111900429]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00054_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00054_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00054_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.026011358946561813, "orientation_residual_rad": 0.10465371127442509, "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": [0.5341691374778748, 0.11842828243970871, 0.24476271867752075], "quaternion_xyzw": [-0.9225574825769547, -0.3180881485361293, -0.18930238339539635, 0.10895975744719534]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.5222069621086121, 0.12162511795759201, 0.2608282268047333], "quaternion_xyzw": [-0.9267083364460736, -0.3219527669722731, -0.17086867272038503, 0.09144381708471]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00062_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00062_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.02028334140777588, "orientation_residual_rad": 0.052108084501369695, "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-001", "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 (0.522, 0.122, 0.261) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 54, EEF displacement is 5.01 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.27 cm of EEF translation (+X 1.28 cm, +Y 2.14 cm, −Z 6.83 cm), 2.8° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.012759864330291748, 0.021357230842113495, -0.06834559142589569], "translation_norm_m": 0.07273283518691019, "orientation_delta_rad": 0.0480016883164591, "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/8d165c28c7a46cca/00062_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00062_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00062_wrist_image_left.jpg"], "current_position_m": [0.5222069621086121, 0.12162511795759201, 0.2608282268047333], "current_quaternion_xyzw": [-0.9267083364460736, -0.3219527669722731, -0.17086867272038503, 0.09144381708471], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 54, "position_m": [0.4959169328212738, 0.11124322563409805, 0.3022277355194092]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 71, "feedback_step": 72}, "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": [0.5349668264389038, 0.1429823487997055, 0.19248263537883759], "quaternion_xyzw": [-0.9197687136877688, -0.32974498841872657, -0.18233230796264455, 0.10976650402967374]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 72, "eef_pose": {"position_m": [0.5308279991149902, 0.13782693445682526, 0.20902948081493378], "quaternion_xyzw": [-0.9218182613945212, -0.32589949892418246, -0.18007046742296876, 0.10777400578350256]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00072_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00072_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00072_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01781870611011982, "orientation_residual_rad": 0.01059706993920359, "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 72, EEF displacement is 5.50 cm; remaining target position residual is 1.78 cm and orientation residual is 0.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 72, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05495390089025472, "position_residual_m": 0.01781870611011982, "orientation_residual_rad": 0.01059706993920359}, "provenance": {"observation_step": 62, "target_command_step": 71, "feedback_step": 72, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 8, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 72, "eef_pose": {"position_m": [0.5308279991149902, 0.13782693445682526, 0.20902948081493378], "quaternion_xyzw": [-0.9218182613945212, -0.32589949892418246, -0.18007046742296876, 0.10777400578350256]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00072_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00072_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00072_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5341691374778748, 0.11842828243970871, 0.24476271867752075], "quaternion_xyzw": [-0.9225574825769547, -0.3180881485361293, -0.18930238339539635, 0.10895975744719534]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 62, "eef_pose": {"position_m": [0.5222069621086121, 0.12162511795759201, 0.2608282268047333], "quaternion_xyzw": [-0.9267083364460736, -0.3219527669722731, -0.17086867272038503, 0.09144381708471]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00062_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00062_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00062_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.02028334140777588, "orientation_residual_rad": 0.052108084501369695, "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": [0.5349668264389038, 0.1429823487997055, 0.19248263537883759], "quaternion_xyzw": [-0.9197687136877688, -0.32974498841872657, -0.18233230796264455, 0.10976650402967374]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 72, "eef_pose": {"position_m": [0.5308279991149902, 0.13782693445682526, 0.20902948081493378], "quaternion_xyzw": [-0.9218182613945212, -0.32589949892418246, -0.18007046742296876, 0.10777400578350256]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00072_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00072_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00072_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.01781870611011982, "orientation_residual_rad": 0.01059706993920359, "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": "close_gripper", "title": "Attempt grasp / contact", "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. Increase closure toward 0.48 while requesting the labeled pose. 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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": 0.028222299210891227, "position_residual_m": 0.010822338983416557, "orientation_residual_rad": 0.018938970779212375}, "provenance": {"observation_step": 72, "target_command_step": 77, "feedback_step": 78, "boundary_reason": "gripper_command_switch", "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. Increase closure toward 0.92 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 78, recorded EEF XYZ is (0.525, 0.142, 0.182) m in robot-base coordinates.", "Recorded gripper closure is 0.25 (0 open, 1 closed).", "Since the prior decision observation at frame 72, EEF displacement is 2.82 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.78 cm of EEF translation (+X 0.01 cm, +Y 0.75 cm, +Z 0.22 cm), 2.7° orientation change, and gripper closure 0.92.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.00013810396194458008, 0.007468760013580322, 0.002201944589614868], "translation_norm_m": 0.007787811555276317, "orientation_delta_rad": 0.0471585739718531, "gripper_from": 0.2466960847377777, "gripper_target": 0.9249340891838074, "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/8d165c28c7a46cca/00078_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00078_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00078_wrist_image_left.jpg"], "current_position_m": [0.5249874591827393, 0.14188912510871887, 0.1817185878753662], "current_quaternion_xyzw": [-0.9247152743201127, -0.3243486873877485, -0.16663661975479693, 0.10923290431741871], "current_gripper_closure": 0.2466960847377777, "previous_observation": {"source_step": 72, "position_m": [0.5308279991149902, 0.13782693445682526, 0.20902948081493378]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 90, "feedback_step": 91}, "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": [0.5251255631446838, 0.1493578851222992, 0.18392053246498108], "quaternion_xyzw": [-0.921003798192321, -0.32192872185837007, -0.18978317834475886, 0.10998293947388404]}, "gripper_closure": 0.9249340891838074, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 91, "eef_pose": {"position_m": [0.5272438526153564, 0.1436404585838318, 0.18071410059928894], "quaternion_xyzw": [-0.9245934284759272, -0.3195232634096578, -0.178381314286803, 0.10588665105897743]}, "gripper_closure": 0.7136564254760742, "images": ["images/8d165c28c7a46cca/00091_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00091_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00091_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.0068889278918504715, "orientation_residual_rad": 0.025725943325096264, "gripper_residual": 0.21127766370773315, "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 91, EEF displacement is 0.30 cm; remaining target position residual is 0.69 cm and orientation residual is 1.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 91, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.003027783835020292, "position_residual_m": 0.0068889278918504715, "orientation_residual_rad": 0.025725943325096264}, "provenance": {"observation_step": 78, "target_command_step": 90, "feedback_step": 91, "boundary_reason": "gripper_command_switch", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 10, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 91, "eef_pose": {"position_m": [0.5272438526153564, 0.1436404585838318, 0.18071410059928894], "quaternion_xyzw": [-0.9245934284759272, -0.3195232634096578, -0.178381314286803, 0.10588665105897743]}, "gripper_closure": 0.7136564254760742, "images": ["images/8d165c28c7a46cca/00091_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00091_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00091_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5304751992225647, 0.14538899064064026, 0.17307227849960327], "quaternion_xyzw": [-0.9231276338453052, -0.32696678809823815, -0.17369802290168365, 0.10371638227365977]}, "gripper_closure": 0.4790749251842499, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 78, "eef_pose": {"position_m": [0.5249874591827393, 0.14188912510871887, 0.1817185878753662], "quaternion_xyzw": [-0.9247152743201127, -0.3243486873877485, -0.16663661975479693, 0.10923290431741871]}, "gripper_closure": 0.2466960847377777, "images": ["images/8d165c28c7a46cca/00078_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00078_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00078_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.010822338983416557, "orientation_residual_rad": 0.018938970779212375, "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": [0.5251255631446838, 0.1493578851222992, 0.18392053246498108], "quaternion_xyzw": [-0.921003798192321, -0.32192872185837007, -0.18978317834475886, 0.10998293947388404]}, "gripper_closure": 0.9249340891838074, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 91, "eef_pose": {"position_m": [0.5272438526153564, 0.1436404585838318, 0.18071410059928894], "quaternion_xyzw": [-0.9245934284759272, -0.3195232634096578, -0.178381314286803, 0.10588665105897743]}, "gripper_closure": 0.7136564254760742, "images": ["images/8d165c28c7a46cca/00091_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00091_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00091_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.0068889278918504715, "orientation_residual_rad": 0.025725943325096264, "gripper_residual": 0.21127766370773315, "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": "open_gripper", "title": "Open / release attempt", "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 0.71 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Decrease closure toward 0.43 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 91, recorded EEF XYZ is (0.527, 0.144, 0.181) m in robot-base coordinates.", "Recorded gripper closure is 0.71 (0 open, 1 closed).", "Since the prior decision observation at frame 78, EEF displacement is 0.30 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.41 cm of EEF translation (+X 2.13 cm, +Y 2.33 cm, +Z 1.29 cm), 6.2° orientation change, and gripper closure 0.43.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.02127140760421753, 0.02334660291671753, 0.01291579008102417], "translation_norm_m": 0.034122635927383, "orientation_delta_rad": 0.10798635187530245, "gripper_from": 0.7136564254760742, "gripper_target": 0.42621147632598877, "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": 91, "current_images": ["images/8d165c28c7a46cca/00091_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00091_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00091_wrist_image_left.jpg"], "current_position_m": [0.5272438526153564, 0.1436404585838318, 0.18071410059928894], "current_quaternion_xyzw": [-0.9245934284759272, -0.3195232634096578, -0.178381314286803, 0.10588665105897743], "current_gripper_closure": 0.7136564254760742, "previous_observation": {"source_step": 78, "position_m": [0.5249874591827393, 0.14188912510871887, 0.1817185878753662]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 103, "feedback_step": 104}, "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": [0.548515260219574, 0.16698706150054932, 0.1936298906803131], "quaternion_xyzw": [-0.911998616634382, -0.3230794277409734, -0.23069105524130498, 0.1032465188720278]}, "gripper_closure": 0.42621147632598877, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 104, "eef_pose": {"position_m": [0.5417665839195251, 0.16572192311286926, 0.20151270925998688], "quaternion_xyzw": [-0.9140849871190789, -0.3246899580370619, -0.2191650129152805, 0.10484161667605625]}, "gripper_closure": 0.17621149122714996, "images": ["images/8d165c28c7a46cca/00104_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00104_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00104_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.010453900322318077, "orientation_residual_rad": 0.023861469089639167, "gripper_residual": 0.2499999850988388, "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 104, EEF displacement is 3.36 cm; remaining target position residual is 1.05 cm and orientation residual is 1.4°. 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": 0.033631576271431006, "position_residual_m": 0.010453900322318077, "orientation_residual_rad": 0.023861469089639167}, "provenance": {"observation_step": 91, "target_command_step": 103, "feedback_step": 104, "boundary_reason": "gripper_command_switch", "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. 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 (0.542, 0.166, 0.202) m in robot-base coordinates.", "Recorded gripper closure is 0.18 (0 open, 1 closed).", "Since the prior decision observation at frame 91, EEF displacement is 3.36 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.34 cm of EEF translation (+X 0.14 cm, −Y 1.71 cm, +Z 6.10 cm), 10.2° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.0014447569847106934, -0.017053723335266113, 0.061027511954307556], "translation_norm_m": 0.06338196918425477, "orientation_delta_rad": 0.1785731666722912, "gripper_from": 0.17621149122714996, "gripper_target": 0.9548457860946655, "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": 104, "current_images": ["images/8d165c28c7a46cca/00104_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00104_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00104_wrist_image_left.jpg"], "current_position_m": [0.5417665839195251, 0.16572192311286926, 0.20151270925998688], "current_quaternion_xyzw": [-0.9140849871190789, -0.3246899580370619, -0.2191650129152805, 0.10484161667605625], "current_gripper_closure": 0.17621149122714996, "previous_observation": {"source_step": 91, "position_m": [0.5272438526153564, 0.1436404585838318, 0.18071410059928894]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "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": [0.5432113409042358, 0.14866819977760315, 0.26254022121429443], "quaternion_xyzw": [-0.9221232672733504, -0.25903437714661975, -0.27506558340999226, 0.08323939111204949]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899], "quaternion_xyzw": [-0.9187902406218277, -0.28935888265983306, -0.25171241212579637, 0.09347081012674553]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00119_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00119_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03940534219145775, "orientation_residual_rad": 0.07952221115592965, "gripper_residual": 0.13546252250671387, "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 2.72 cm; remaining target position residual is 3.94 cm and orientation residual is 4.6°. 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": 0.027226441944710012, "position_residual_m": 0.03940534219145775, "orientation_residual_rad": 0.07952221115592965}, "provenance": {"observation_step": 104, "target_command_step": 118, "feedback_step": 119, "boundary_reason": "max_horizon", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 12, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 119, "eef_pose": {"position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899], "quaternion_xyzw": [-0.9187902406218277, -0.28935888265983306, -0.25171241212579637, 0.09347081012674553]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00119_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00119_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.548515260219574, 0.16698706150054932, 0.1936298906803131], "quaternion_xyzw": [-0.911998616634382, -0.3230794277409734, -0.23069105524130498, 0.1032465188720278]}, "gripper_closure": 0.42621147632598877, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 104, "eef_pose": {"position_m": [0.5417665839195251, 0.16572192311286926, 0.20151270925998688], "quaternion_xyzw": [-0.9140849871190789, -0.3246899580370619, -0.2191650129152805, 0.10484161667605625]}, "gripper_closure": 0.17621149122714996, "images": ["images/8d165c28c7a46cca/00104_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00104_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00104_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.010453900322318077, "orientation_residual_rad": 0.023861469089639167, "gripper_residual": 0.2499999850988388, "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": [0.5432113409042358, 0.14866819977760315, 0.26254022121429443], "quaternion_xyzw": [-0.9221232672733504, -0.25903437714661975, -0.27506558340999226, 0.08323939111204949]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899], "quaternion_xyzw": [-0.9187902406218277, -0.28935888265983306, -0.25171241212579637, 0.09347081012674553]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00119_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00119_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03940534219145775, "orientation_residual_rad": 0.07952221115592965, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. 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 (0.552, 0.159, 0.226) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 104, EEF displacement is 2.72 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 9.45 cm of EEF translation (−X 0.32 cm, −Y 5.55 cm, +Z 7.65 cm), 20.0° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.0032265782356262207, -0.05546010285615921, 0.07648704946041107], "translation_norm_m": 0.09453307649222967, "orientation_delta_rad": 0.34821130637677755, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 119, "current_images": ["images/8d165c28c7a46cca/00119_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00119_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00119_wrist_image_left.jpg"], "current_position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899], "current_quaternion_xyzw": [-0.9187902406218277, -0.28935888265983306, -0.25171241212579637, 0.09347081012674553], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 104, "position_m": [0.5417665839195251, 0.16572192311286926, 0.20151270925998688]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 124, "feedback_step": 125}, "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": [0.5491989850997925, 0.10365521162748337, 0.302166223526001], "quaternion_xyzw": [0.9183195456344205, 0.18892206385549537, 0.34766915915669266, 0.011127518395849871]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 125, "eef_pose": {"position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619], "quaternion_xyzw": [-0.9191723748799376, -0.23369300380495486, -0.31471494006179146, 0.0382652810272636]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00125_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00125_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036662645637989044, "orientation_residual_rad": 0.14877290874336155, "gripper_residual": 0.13546252250671387, "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 125, EEF displacement is 5.87 cm; remaining target position residual is 3.67 cm and orientation residual is 8.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 125, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05867103946352287, "position_residual_m": 0.036662645637989044, "orientation_residual_rad": 0.14877290874336155}, "provenance": {"observation_step": 119, "target_command_step": 124, "feedback_step": 125, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 13, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 125, "eef_pose": {"position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619], "quaternion_xyzw": [-0.9191723748799376, -0.23369300380495486, -0.31471494006179146, 0.0382652810272636]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00125_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00125_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5432113409042358, 0.14866819977760315, 0.26254022121429443], "quaternion_xyzw": [-0.9221232672733504, -0.25903437714661975, -0.27506558340999226, 0.08323939111204949]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 119, "eef_pose": {"position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899], "quaternion_xyzw": [-0.9187902406218277, -0.28935888265983306, -0.25171241212579637, 0.09347081012674553]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00119_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00119_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00119_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.03940534219145775, "orientation_residual_rad": 0.07952221115592965, "gripper_residual": 0.13546252250671387, "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": [0.5491989850997925, 0.10365521162748337, 0.302166223526001], "quaternion_xyzw": [0.9183195456344205, 0.18892206385549537, 0.34766915915669266, 0.011127518395849871]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 125, "eef_pose": {"position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619], "quaternion_xyzw": [-0.9191723748799376, -0.23369300380495486, -0.31471494006179146, 0.0382652810272636]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00125_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00125_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036662645637989044, "orientation_residual_rad": 0.14877290874336155, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 125, recorded EEF XYZ is (0.556, 0.123, 0.272) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 119, EEF displacement is 5.87 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 8.12 cm of EEF translation (−X 0.41 cm, −Y 6.52 cm, +Z 4.82 cm), 19.2° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.004053890705108643, -0.06517336517572403, 0.048191338777542114], "translation_norm_m": 0.0811566798935804, "orientation_delta_rad": 0.3359427550851773, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 125, "current_images": ["images/8d165c28c7a46cca/00125_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00125_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00125_wrist_image_left.jpg"], "current_position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619], "current_quaternion_xyzw": [-0.9191723748799376, -0.23369300380495486, -0.31471494006179146, 0.0382652810272636], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 119, "position_m": [0.5524255633354187, 0.15911531448364258, 0.2256791740655899]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 128, "feedback_step": 129}, "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": [0.5521119236946106, 0.05817379057407379, 0.32022717595100403], "quaternion_xyzw": [0.9111006498234706, 0.12980743989997845, 0.384277903111511, 0.07332208138127938]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 129, "eef_pose": {"position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416], "quaternion_xyzw": [0.9164677567485467, 0.18014625833346865, 0.35630371249918125, 0.026112083563713074]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00129_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00129_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00129_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0352107398211956, "orientation_residual_rad": 0.14935505204894514, "gripper_residual": 0.13546252250671387, "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 129, EEF displacement is 5.14 cm; remaining target position residual is 3.52 cm and orientation residual is 8.6°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 129, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.05143494312200601, "position_residual_m": 0.0352107398211956, "orientation_residual_rad": 0.14935505204894514}, "provenance": {"observation_step": 125, "target_command_step": 128, "feedback_step": 129, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 14, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 129, "eef_pose": {"position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416], "quaternion_xyzw": [0.9164677567485467, 0.18014625833346865, 0.35630371249918125, 0.026112083563713074]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00129_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00129_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00129_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5491989850997925, 0.10365521162748337, 0.302166223526001], "quaternion_xyzw": [0.9183195456344205, 0.18892206385549537, 0.34766915915669266, 0.011127518395849871]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 125, "eef_pose": {"position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619], "quaternion_xyzw": [-0.9191723748799376, -0.23369300380495486, -0.31471494006179146, 0.0382652810272636]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00125_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00125_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00125_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.036662645637989044, "orientation_residual_rad": 0.14877290874336155, "gripper_residual": 0.13546252250671387, "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": [0.5521119236946106, 0.05817379057407379, 0.32022717595100403], "quaternion_xyzw": [0.9111006498234706, 0.12980743989997845, 0.384277903111511, 0.07332208138127938]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 129, "eef_pose": {"position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416], "quaternion_xyzw": [0.9164677567485467, 0.18014625833346865, 0.35630371249918125, 0.026112083563713074]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00129_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00129_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00129_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0352107398211956, "orientation_residual_rad": 0.14935505204894514, "gripper_residual": 0.13546252250671387, "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 with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 129, recorded EEF XYZ is (0.557, 0.075, 0.290) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 125, EEF displacement is 5.14 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.89 cm of EEF translation (−X 0.90 cm, −Y 5.46 cm, +Z 4.09 cm), 20.6° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.008950293064117432, -0.054635755717754364, 0.04094919562339783], "translation_norm_m": 0.06886225505301885, "orientation_delta_rad": 0.35992210286021376, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 129, "current_images": ["images/8d165c28c7a46cca/00129_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00129_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00129_wrist_image_left.jpg"], "current_position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416], "current_quaternion_xyzw": [0.9164677567485467, 0.18014625833346865, 0.35630371249918125, 0.026112083563713074], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 125, "position_m": [0.5561658143997192, 0.12334715574979782, 0.2720358371734619]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/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": [0.547912061214447, 0.02040480077266693, 0.33063554763793945], "quaternion_xyzw": [0.9001874477590698, 0.04979945637762341, 0.41070133518662594, 0.1360403848768002]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204], "quaternion_xyzw": [0.9128189008630512, 0.09750006943065348, 0.3872103237776601, 0.08557777660227305]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00133_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00133_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.030299892649054527, "orientation_residual_rad": 0.1488053465533876, "gripper_residual": 0.13546252250671387, "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 5.12 cm; remaining target position residual is 3.03 cm and orientation residual is 8.5°. 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": 0.05115982864967082, "position_residual_m": 0.030299892649054527, "orientation_residual_rad": 0.1488053465533876}, "provenance": {"observation_step": 129, "target_command_step": 132, "feedback_step": 133, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 15, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 133, "eef_pose": {"position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204], "quaternion_xyzw": [0.9128189008630512, 0.09750006943065348, 0.3872103237776601, 0.08557777660227305]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00133_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00133_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5521119236946106, 0.05817379057407379, 0.32022717595100403], "quaternion_xyzw": [0.9111006498234706, 0.12980743989997845, 0.384277903111511, 0.07332208138127938]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 129, "eef_pose": {"position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416], "quaternion_xyzw": [0.9164677567485467, 0.18014625833346865, 0.35630371249918125, 0.026112083563713074]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00129_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00129_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00129_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0352107398211956, "orientation_residual_rad": 0.14935505204894514, "gripper_residual": 0.13546252250671387, "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": [0.547912061214447, 0.02040480077266693, 0.33063554763793945], "quaternion_xyzw": [0.9001874477590698, 0.04979945637762341, 0.41070133518662594, 0.1360403848768002]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204], "quaternion_xyzw": [0.9128189008630512, 0.09750006943065348, 0.3872103237776601, 0.08557777660227305]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00133_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00133_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.030299892649054527, "orientation_residual_rad": 0.1488053465533876, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 133, recorded EEF XYZ is (0.550, 0.026, 0.301) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 129, EEF displacement is 5.12 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.25 cm of EEF translation (−X 1.26 cm, −Y 3.42 cm, +Z 3.78 cm), 21.0° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.012575387954711914, -0.03422729857265949, 0.03779909014701843], "translation_norm_m": 0.052520658466320834, "orientation_delta_rad": 0.3668155788753478, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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/8d165c28c7a46cca/00133_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00133_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00133_wrist_image_left.jpg"], "current_position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204], "current_quaternion_xyzw": [0.9128189008630512, 0.09750006943065348, 0.3872103237776601, 0.08557777660227305], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 129, "position_m": [0.5568623542785645, 0.0750405564904213, 0.2896863520145416]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "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": [0.5379028916358948, -0.008696433156728745, 0.3386819660663605], "quaternion_xyzw": [0.8830176373384057, -0.037079389147229413, 0.42255273694034995, 0.20088343772941497]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 137, "eef_pose": {"position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847], "quaternion_xyzw": [0.9002511736949814, 0.015012229835606752, 0.4072711771673932, 0.15314256581648722]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00137_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00137_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00137_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.029314247891306877, "orientation_residual_rad": 0.14867134931774081, "gripper_residual": 0.13546252250671387, "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 3.90 cm; remaining target position residual is 2.93 cm and orientation residual is 8.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 137, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.0389501932210404, "position_residual_m": 0.029314247891306877, "orientation_residual_rad": 0.14867134931774081}, "provenance": {"observation_step": 133, "target_command_step": 136, "feedback_step": 137, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 16, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 137, "eef_pose": {"position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847], "quaternion_xyzw": [0.9002511736949814, 0.015012229835606752, 0.4072711771673932, 0.15314256581648722]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00137_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00137_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00137_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.547912061214447, 0.02040480077266693, 0.33063554763793945], "quaternion_xyzw": [0.9001874477590698, 0.04979945637762341, 0.41070133518662594, 0.1360403848768002]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 133, "eef_pose": {"position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204], "quaternion_xyzw": [0.9128189008630512, 0.09750006943065348, 0.3872103237776601, 0.08557777660227305]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00133_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00133_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00133_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.030299892649054527, "orientation_residual_rad": 0.1488053465533876, "gripper_residual": 0.13546252250671387, "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": [0.5379028916358948, -0.008696433156728745, 0.3386819660663605], "quaternion_xyzw": [0.8830176373384057, -0.037079389147229413, 0.42255273694034995, 0.20088343772941497]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 137, "eef_pose": {"position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847], "quaternion_xyzw": [0.9002511736949814, 0.015012229835606752, 0.4072711771673932, 0.15314256581648722]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00137_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00137_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00137_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.029314247891306877, "orientation_residual_rad": 0.14867134931774081, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 137, recorded EEF XYZ is (0.535, -0.009, 0.309) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 133, EEF displacement is 3.90 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.64 cm of EEF translation (−X 0.91 cm, −Y 2.29 cm, +Z 3.92 cm), 20.0° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.00911569595336914, -0.02291206456720829, 0.03924661874771118], "translation_norm_m": 0.04635035812778998, "orientation_delta_rad": 0.34898587278764176, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 137, "current_images": ["images/8d165c28c7a46cca/00137_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00137_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00137_wrist_image_left.jpg"], "current_position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847], "current_quaternion_xyzw": [0.9002511736949814, 0.015012229835606752, 0.4072711771673932, 0.15314256581648722], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 133, "position_m": [0.5504782795906067, 0.025530865415930748, 0.30088287591934204]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/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": [0.5262069702148438, -0.03221480920910835, 0.34873440861701965], "quaternion_xyzw": [0.8614759964312163, -0.12249449670733845, 0.4237552439951908, 0.251566490288026]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 141, "eef_pose": {"position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027], "quaternion_xyzw": [0.884994519301394, -0.07282818752011273, 0.41027260778602925, 0.20774297391122704]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00141_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00141_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03280762955546379, "orientation_residual_rad": 0.14316889483122863, "gripper_residual": 0.13546252250671387, "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 2.94 cm; remaining target position residual is 3.28 cm and orientation residual is 8.2°. 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": 0.029398062000704276, "position_residual_m": 0.03280762955546379, "orientation_residual_rad": 0.14316889483122863}, "provenance": {"observation_step": 137, "target_command_step": 140, "feedback_step": 141, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 17, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 141, "eef_pose": {"position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027], "quaternion_xyzw": [0.884994519301394, -0.07282818752011273, 0.41027260778602925, 0.20774297391122704]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00141_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00141_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5379028916358948, -0.008696433156728745, 0.3386819660663605], "quaternion_xyzw": [0.8830176373384057, -0.037079389147229413, 0.42255273694034995, 0.20088343772941497]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 137, "eef_pose": {"position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847], "quaternion_xyzw": [0.9002511736949814, 0.015012229835606752, 0.4072711771673932, 0.15314256581648722]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00137_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00137_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00137_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.029314247891306877, "orientation_residual_rad": 0.14867134931774081, "gripper_residual": 0.13546252250671387, "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": [0.5262069702148438, -0.03221480920910835, 0.34873440861701965], "quaternion_xyzw": [0.8614759964312163, -0.12249449670733845, 0.4237552439951908, 0.251566490288026]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 141, "eef_pose": {"position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027], "quaternion_xyzw": [0.884994519301394, -0.07282818752011273, 0.41027260778602925, 0.20774297391122704]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00141_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00141_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03280762955546379, "orientation_residual_rad": 0.14316889483122863, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 141, recorded EEF XYZ is (0.517, -0.031, 0.317) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 137, EEF displacement is 2.94 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.52 cm of EEF translation (−X 0.32 cm, −Y 2.44 cm, +Z 4.94 cm), 17.9° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.0032161474227905273, -0.024425163865089417, 0.049359798431396484], "translation_norm_m": 0.0551663115974748, "orientation_delta_rad": 0.312942811762202, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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/8d165c28c7a46cca/00141_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00141_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00141_wrist_image_left.jpg"], "current_position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027], "current_quaternion_xyzw": [0.884994519301394, -0.07282818752011273, 0.41027260778602925, 0.20774297391122704], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 137, "position_m": [0.5353226661682129, -0.009302744641900063, 0.30948778986930847]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 144, "feedback_step": 145}, "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": [0.5141274333000183, -0.05568508803844452, 0.3665209710597992], "quaternion_xyzw": [0.8341075917520644, -0.19794049591508195, 0.4294099559958499, 0.2840619213307286]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 145, "eef_pose": {"position_m": [0.5072876811027527, -0.04893893748521805, 0.33320802450180054], "quaternion_xyzw": [0.8610024073309382, -0.15017139446059366, 0.4152775167249376, 0.25232516909507635]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00145_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00145_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00145_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.034670524299144745, "orientation_residual_rad": 0.12982518707989546, "gripper_residual": 0.13546252250671387, "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 145, EEF displacement is 2.59 cm; remaining target position residual is 3.47 cm and orientation residual is 7.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 145, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.02590695049395903, "position_residual_m": 0.034670524299144745, "orientation_residual_rad": 0.12982518707989546}, "provenance": {"observation_step": 141, "target_command_step": 144, "feedback_step": 145, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 18, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 145, "eef_pose": {"position_m": [0.5072876811027527, -0.04893893748521805, 0.33320802450180054], "quaternion_xyzw": [0.8610024073309382, -0.15017139446059366, 0.4152775167249376, 0.25232516909507635]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00145_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00145_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00145_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5262069702148438, -0.03221480920910835, 0.34873440861701965], "quaternion_xyzw": [0.8614759964312163, -0.12249449670733845, 0.4237552439951908, 0.251566490288026]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 141, "eef_pose": {"position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027], "quaternion_xyzw": [0.884994519301394, -0.07282818752011273, 0.41027260778602925, 0.20774297391122704]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00141_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00141_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00141_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.03280762955546379, "orientation_residual_rad": 0.14316889483122863, "gripper_residual": 0.13546252250671387, "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": [0.5141274333000183, -0.05568508803844452, 0.3665209710597992], "quaternion_xyzw": [0.8341075917520644, -0.19794049591508195, 0.4294099559958499, 0.2840619213307286]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 145, "eef_pose": {"position_m": [0.5072876811027527, -0.04893893748521805, 0.33320802450180054], "quaternion_xyzw": [0.8610024073309382, -0.15017139446059366, 0.4152775167249376, 0.25232516909507635]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00145_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00145_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00145_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.034670524299144745, "orientation_residual_rad": 0.12982518707989546, "gripper_residual": 0.13546252250671387, "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-005", "phase": "raise_with_closure", "title": "Raise with gripper closure", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 145, recorded EEF XYZ is (0.507, -0.049, 0.333) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 141, EEF displacement is 2.59 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.18 cm of EEF translation (−X 0.43 cm, −Y 3.84 cm, +Z 4.83 cm), 16.1° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.0042768120765686035, -0.03838171064853668, 0.048254042863845825], "translation_norm_m": 0.061805335421403124, "orientation_delta_rad": 0.2808182779385208, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 145, "current_images": ["images/8d165c28c7a46cca/00145_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00145_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00145_wrist_image_left.jpg"], "current_position_m": [0.5072876811027527, -0.04893893748521805, 0.33320802450180054], "current_quaternion_xyzw": [0.8610024073309382, -0.15017139446059366, 0.4152775167249376, 0.25232516909507635], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 141, "position_m": [0.5173435807228088, -0.0312599241733551, 0.3171611726284027]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "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": [0.5030108690261841, -0.08732064813375473, 0.38146206736564636], "quaternion_xyzw": [0.8052728301596903, -0.2679462680571711, 0.4353879120622219, 0.30029624118682535]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.501808226108551, -0.07537534087896347, 0.3547411561012268], "quaternion_xyzw": [0.8289966014799018, -0.2322435748141785, 0.42431146553879245, 0.2806908208414129]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00150_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00150_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02929409220814705, "orientation_residual_rad": 0.09685077239286567, "gripper_residual": 0.13546252250671387, "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 3.45 cm; remaining target position residual is 2.93 cm and orientation residual is 5.5°. 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": 0.03453380384360411, "position_residual_m": 0.02929409220814705, "orientation_residual_rad": 0.09685077239286567}, "provenance": {"observation_step": 145, "target_command_step": 149, "feedback_step": 150, "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. Increase closure toward 0.95 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 150, recorded EEF XYZ is (0.502, -0.075, 0.355) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 145, EEF displacement is 3.45 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.70 cm of EEF translation (+X 0.02 cm, −Y 5.55 cm, +Z 3.76 cm), 7.5° orientation change, and gripper closure 0.95.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.0001894235610961914, -0.05545061081647873, 0.037641823291778564], "translation_norm_m": 0.06702024307577203, "orientation_delta_rad": 0.13148894467394423, "gripper_from": 0.8193832635879517, "gripper_target": 0.9548457860946655, "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": 150, "current_images": ["images/8d165c28c7a46cca/00150_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00150_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00150_wrist_image_left.jpg"], "current_position_m": [0.501808226108551, -0.07537534087896347, 0.3547411561012268], "current_quaternion_xyzw": [0.8289966014799018, -0.2322435748141785, 0.42431146553879245, 0.2806908208414129], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 145, "position_m": [0.5072876811027527, -0.04893893748521805, 0.33320802450180054]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "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": [0.5019976496696472, -0.1308259516954422, 0.39238297939300537], "quaternion_xyzw": [0.7991527759015763, -0.2868470017107365, 0.4359224209969648, 0.2984045597012731]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 159, "eef_pose": {"position_m": [0.49579301476478577, -0.12195735424757004, 0.3722130358219147], "quaternion_xyzw": [0.800939384546606, -0.2898356745576157, 0.4265064352888004, 0.30427560647064034]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00159_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00159_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.022890524938702583, "orientation_residual_rad": 0.023259891432337757, "gripper_residual": 0.13546252250671387, "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 5.01 cm; remaining target position residual is 2.29 cm and orientation residual is 1.3°. 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": 0.05011320502579522, "position_residual_m": 0.022890524938702583, "orientation_residual_rad": 0.023259891432337757}, "provenance": {"observation_step": 150, "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": "8d165c28c7a46cca", "decision_index": 20, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 159, "eef_pose": {"position_m": [0.49579301476478577, -0.12195735424757004, 0.3722130358219147], "quaternion_xyzw": [0.800939384546606, -0.2898356745576157, 0.4265064352888004, 0.30427560647064034]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00159_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00159_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5030108690261841, -0.08732064813375473, 0.38146206736564636], "quaternion_xyzw": [0.8052728301596903, -0.2679462680571711, 0.4353879120622219, 0.30029624118682535]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 150, "eef_pose": {"position_m": [0.501808226108551, -0.07537534087896347, 0.3547411561012268], "quaternion_xyzw": [0.8289966014799018, -0.2322435748141785, 0.42431146553879245, 0.2806908208414129]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00150_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00150_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00150_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.02929409220814705, "orientation_residual_rad": 0.09685077239286567, "gripper_residual": 0.13546252250671387, "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": [0.5019976496696472, -0.1308259516954422, 0.39238297939300537], "quaternion_xyzw": [0.7991527759015763, -0.2868470017107365, 0.4359224209969648, 0.2984045597012731]}, "gripper_closure": 0.9548457860946655, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 159, "eef_pose": {"position_m": [0.49579301476478577, -0.12195735424757004, 0.3722130358219147], "quaternion_xyzw": [0.800939384546606, -0.2898356745576157, 0.4265064352888004, 0.30427560647064034]}, "gripper_closure": 0.8193832635879517, "images": ["images/8d165c28c7a46cca/00159_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00159_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00159_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.022890524938702583, "orientation_residual_rad": 0.023259891432337757, "gripper_residual": 0.13546252250671387, "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-006", "phase": "open_gripper", "title": "Open / release attempt", "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 0.82 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Decrease closure toward 0.55 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 159, recorded EEF XYZ is (0.496, -0.122, 0.372) m in robot-base coordinates.", "Recorded gripper closure is 0.82 (0 open, 1 closed).", "Since the prior decision observation at frame 150, EEF displacement is 5.01 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 4.15 cm of EEF translation (+X 1.70 cm, −Y 2.04 cm, +Z 3.19 cm), 2.4° orientation change, and gripper closure 0.55.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.01695510745048523, -0.02038712054491043, 0.03190627694129944], "translation_norm_m": 0.04148639368546156, "orientation_delta_rad": 0.04161272194579204, "gripper_from": 0.8193832635879517, "gripper_target": 0.5473568439483643, "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": 159, "current_images": ["images/8d165c28c7a46cca/00159_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00159_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00159_wrist_image_left.jpg"], "current_position_m": [0.49579301476478577, -0.12195735424757004, 0.3722130358219147], "current_quaternion_xyzw": [0.800939384546606, -0.2898356745576157, 0.4265064352888004, 0.30427560647064034], "current_gripper_closure": 0.8193832635879517, "previous_observation": {"source_step": 150, "position_m": [0.501808226108551, -0.07537534087896347, 0.3547411561012268]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "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": [0.512748122215271, -0.14234447479248047, 0.4041193127632141], "quaternion_xyzw": [0.7996853778302231, -0.2841768630646193, 0.44156785832887674, 0.2911436646642595]}, "gripper_closure": 0.5473568439483643, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 165, "eef_pose": {"position_m": [0.5054470300674438, -0.13653871417045593, 0.3927688002586365], "quaternion_xyzw": [0.7932992880932439, -0.29240610093481867, 0.44089523418526755, 0.3013076569215713]}, "gripper_closure": 0.7973568439483643, "images": ["images/8d165c28c7a46cca/00165_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00165_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00165_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.014691730029881, "orientation_residual_rad": 0.02913866260410408, "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 165, EEF displacement is 2.70 cm; remaining target position residual is 1.47 cm and orientation residual is 1.7°. 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": 0.026988062550740766, "position_residual_m": 0.014691730029881, "orientation_residual_rad": 0.02913866260410408}, "provenance": {"observation_step": 159, "target_command_step": 164, "feedback_step": 165, "boundary_reason": "gripper_command_switch", "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. Decrease closure toward 0.02 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 165, recorded EEF XYZ is (0.505, -0.137, 0.393) m in robot-base coordinates.", "Recorded gripper closure is 0.80 (0 open, 1 closed).", "Since the prior decision observation at frame 159, EEF displacement is 2.70 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.93 cm of EEF translation (+X 2.79 cm, +Y 2.76 cm, −Z 0.23 cm), 19.7° orientation change, and gripper closure 0.02.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [0.027911245822906494, 0.02764030545949936, -0.002250760793685913], "translation_norm_m": 0.03934577554746556, "orientation_delta_rad": 0.34414002123252824, "gripper_from": 0.7973568439483643, "gripper_target": 0.016519811004400253, "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": 165, "current_images": ["images/8d165c28c7a46cca/00165_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00165_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00165_wrist_image_left.jpg"], "current_position_m": [0.5054470300674438, -0.13653871417045593, 0.3927688002586365], "current_quaternion_xyzw": [0.7932992880932439, -0.29240610093481867, 0.44089523418526755, 0.3013076569215713], "current_gripper_closure": 0.7973568439483643, "previous_observation": {"source_step": 159, "position_m": [0.49579301476478577, -0.12195735424757004, 0.3722130358219147]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 172, "feedback_step": 173}, "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": [0.5333582758903503, -0.10889840871095657, 0.39051803946495056], "quaternion_xyzw": [0.8650390001948984, -0.21385055362935726, 0.42172374548316566, 0.16770376069092197]}, "gripper_closure": 0.016519811004400253, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 173, "eef_pose": {"position_m": [0.5283292531967163, -0.12689140439033508, 0.383698046207428], "quaternion_xyzw": [0.8363108443673728, -0.24863011122963136, 0.43442812806245557, 0.22369497296904942]}, "gripper_closure": 0.23348015546798706, "images": ["images/8d165c28c7a46cca/00173_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00173_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00173_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.019888469949364662, "orientation_residual_rad": 0.14606453421385013, "gripper_residual": 0.2169603407382965, "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 173, EEF displacement is 2.64 cm; remaining target position residual is 1.99 cm and orientation residual is 8.4°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 173, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.02643757364791524, "position_residual_m": 0.019888469949364662, "orientation_residual_rad": 0.14606453421385013}, "provenance": {"observation_step": 165, "target_command_step": 172, "feedback_step": 173, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 22, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 173, "eef_pose": {"position_m": [0.5283292531967163, -0.12689140439033508, 0.383698046207428], "quaternion_xyzw": [0.8363108443673728, -0.24863011122963136, 0.43442812806245557, 0.22369497296904942]}, "gripper_closure": 0.23348015546798706, "images": ["images/8d165c28c7a46cca/00173_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00173_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00173_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.512748122215271, -0.14234447479248047, 0.4041193127632141], "quaternion_xyzw": [0.7996853778302231, -0.2841768630646193, 0.44156785832887674, 0.2911436646642595]}, "gripper_closure": 0.5473568439483643, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 165, "eef_pose": {"position_m": [0.5054470300674438, -0.13653871417045593, 0.3927688002586365], "quaternion_xyzw": [0.7932992880932439, -0.29240610093481867, 0.44089523418526755, 0.3013076569215713]}, "gripper_closure": 0.7973568439483643, "images": ["images/8d165c28c7a46cca/00165_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00165_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00165_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 6, "position_residual_m": 0.014691730029881, "orientation_residual_rad": 0.02913866260410408, "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": [0.5333582758903503, -0.10889840871095657, 0.39051803946495056], "quaternion_xyzw": [0.8650390001948984, -0.21385055362935726, 0.42172374548316566, 0.16770376069092197]}, "gripper_closure": 0.016519811004400253, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 173, "eef_pose": {"position_m": [0.5283292531967163, -0.12689140439033508, 0.383698046207428], "quaternion_xyzw": [0.8363108443673728, -0.24863011122963136, 0.43442812806245557, 0.22369497296904942]}, "gripper_closure": 0.23348015546798706, "images": ["images/8d165c28c7a46cca/00173_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00173_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00173_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.019888469949364662, "orientation_residual_rad": 0.14606453421385013, "gripper_residual": 0.2169603407382965, "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-006", "phase": "open_gripper", "title": "Open / release attempt", "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 0.23 (0 open, 1 closed). Describe this motion phase without assigning an unavailable task intent. Decrease 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": 177, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.038910867486418456, "position_residual_m": 0.027577515691518784, "orientation_residual_rad": 0.14302416978237292}, "provenance": {"observation_step": 173, "target_command_step": 176, "feedback_step": 177, "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 177, recorded EEF XYZ is (0.543, -0.093, 0.372) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 173, EEF displacement is 3.89 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 2.60 cm, +Y 5.54 cm, −Z 0.28 cm), 20.6° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.025969207286834717, 0.055433787405490875, -0.0027938485145568848], "translation_norm_m": 0.06127895317926082, "orientation_delta_rad": 0.35980220224328513, "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": 177, "current_images": ["images/8d165c28c7a46cca/00177_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00177_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00177_wrist_image_left.jpg"], "current_position_m": [0.5429908633232117, -0.09266684204339981, 0.3723944127559662], "current_quaternion_xyzw": [0.8756672525113004, -0.1891836197227104, 0.4226404378900985, 0.1370820235041376], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 173, "position_m": [0.5283292531967163, -0.12689140439033508, 0.383698046207428]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 180, "feedback_step": 181}, "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": [0.517021656036377, -0.037233054637908936, 0.3696005642414093], "quaternion_xyzw": [0.9277327782553749, -0.0963084764962187, 0.36054954927202654, 0.006371187116945307]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 181, "eef_pose": {"position_m": [0.5357804894447327, -0.05482259392738342, 0.35510000586509705], "quaternion_xyzw": [0.9075005193968556, -0.13093565180834793, 0.3952555462227681, 0.055423059822618234]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00181_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00181_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00181_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.029522057622671127, "orientation_residual_rad": 0.1445164267570083, "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 181, EEF displacement is 4.22 cm; remaining target position residual is 2.95 cm and orientation residual is 8.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 181, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04222881855606434, "position_residual_m": 0.029522057622671127, "orientation_residual_rad": 0.1445164267570083}, "provenance": {"observation_step": 177, "target_command_step": 180, "feedback_step": 181, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 24, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 181, "eef_pose": {"position_m": [0.5357804894447327, -0.05482259392738342, 0.35510000586509705], "quaternion_xyzw": [0.9075005193968556, -0.13093565180834793, 0.3952555462227681, 0.055423059822618234]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00181_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00181_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00181_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5310846567153931, -0.07077684253454208, 0.38420921564102173], "quaternion_xyzw": [0.8990184217859304, -0.1538346332018657, 0.40139787522228465, 0.08354955825267743]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 177, "eef_pose": {"position_m": [0.5429908633232117, -0.09266684204339981, 0.3723944127559662], "quaternion_xyzw": [0.8756672525113004, -0.1891836197227104, 0.4226404378900985, 0.1370820235041376]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00177_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00177_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00177_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.027577515691518784, "orientation_residual_rad": 0.14302416978237292, "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": [0.517021656036377, -0.037233054637908936, 0.3696005642414093], "quaternion_xyzw": [0.9277327782553749, -0.0963084764962187, 0.36054954927202654, 0.006371187116945307]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 181, "eef_pose": {"position_m": [0.5357804894447327, -0.05482259392738342, 0.35510000586509705], "quaternion_xyzw": [0.9075005193968556, -0.13093565180834793, 0.3952555462227681, 0.055423059822618234]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00181_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00181_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00181_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.029522057622671127, "orientation_residual_rad": 0.1445164267570083, "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-007", "phase": "reposition_open", "title": "Reposition after opening", "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 181, recorded EEF XYZ is (0.536, -0.055, 0.355) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 177, EEF displacement is 4.22 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.18 cm of EEF translation (−X 3.57 cm, +Y 3.53 cm, −Z 1.25 cm), 20.8° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.03571879863739014, 0.0353047177195549, -0.012536436319351196], "translation_norm_m": 0.051763094043391814, "orientation_delta_rad": 0.3630746328986565, "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": 181, "current_images": ["images/8d165c28c7a46cca/00181_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00181_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00181_wrist_image_left.jpg"], "current_position_m": [0.5357804894447327, -0.05482259392738342, 0.35510000586509705], "current_quaternion_xyzw": [0.9075005193968556, -0.13093565180834793, 0.3952555462227681, 0.055423059822618234], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 177, "position_m": [0.5429908633232117, -0.09266684204339981, 0.3723944127559662]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 184, "feedback_step": 185}, "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": [0.5000616908073425, -0.01951787620782852, 0.34256356954574585], "quaternion_xyzw": [-0.9536242451870317, 0.03852309573681898, -0.29367807002836943, 0.0535720194759153]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 185, "eef_pose": {"position_m": [0.5123346447944641, -0.028072847053408623, 0.32010596990585327], "quaternion_xyzw": [-0.9364267023785362, 0.07365162807320297, -0.34257288308484346, 0.018008012926610514]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00185_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00185_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00185_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.026984378695487976, "orientation_residual_rad": 0.1440487793033354, "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 185, EEF displacement is 4.99 cm; remaining target position residual is 2.70 cm and orientation residual is 8.3°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 185, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.04989828796565166, "position_residual_m": 0.026984378695487976, "orientation_residual_rad": 0.1440487793033354}, "provenance": {"observation_step": 181, "target_command_step": 184, "feedback_step": 185, "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 185, recorded EEF XYZ is (0.512, -0.028, 0.320) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 181, EEF displacement is 4.99 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 3.88 cm of EEF translation (−X 1.86 cm, +Y 0.95 cm, −Z 3.27 cm), 9.9° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.01864701509475708, 0.00947551429271698, -0.03272569179534912], "translation_norm_m": 0.03883899389196073, "orientation_delta_rad": 0.17298224597841874, "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": 185, "current_images": ["images/8d165c28c7a46cca/00185_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00185_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00185_wrist_image_left.jpg"], "current_position_m": [0.5123346447944641, -0.028072847053408623, 0.32010596990585327], "current_quaternion_xyzw": [-0.9364267023785362, 0.07365162807320297, -0.34257288308484346, 0.018008012926610514], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 181, "position_m": [0.5357804894447327, -0.05482259392738342, 0.35510000586509705]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 187, "feedback_step": 188}, "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": [0.49368762969970703, -0.018597332760691643, 0.28738027811050415], "quaternion_xyzw": [-0.9560607534394607, 0.023879275476631667, -0.28666475696650257, 0.05657678895817496]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 188, "eef_pose": {"position_m": [0.49333471059799194, -0.018528716638684273, 0.2867429554462433], "quaternion_xyzw": [-0.9564088527345374, 0.023207923921533476, -0.28544272201145393, 0.057148500671062204]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00188_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00188_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00188_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0007317378767766058, "orientation_residual_rad": 0.003093289653833267, "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 188, EEF displacement is 3.96 cm; remaining target position residual is 0.07 cm and orientation residual is 0.2°. 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": 0.039562338892887565, "position_residual_m": 0.0007317378767766058, "orientation_residual_rad": 0.003093289653833267}, "provenance": {"observation_step": 185, "target_command_step": 187, "feedback_step": 188, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "8d165c28c7a46cca", "decision_index": 26, "split": "validation", "task": null, "instruction_available": false, "observation": {"source_step": 188, "eef_pose": {"position_m": [0.49333471059799194, -0.018528716638684273, 0.2867429554462433], "quaternion_xyzw": [-0.9564088527345374, 0.023207923921533476, -0.28544272201145393, 0.057148500671062204]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00188_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00188_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00188_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5000616908073425, -0.01951787620782852, 0.34256356954574585], "quaternion_xyzw": [-0.9536242451870317, 0.03852309573681898, -0.29367807002836943, 0.0535720194759153]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 185, "eef_pose": {"position_m": [0.5123346447944641, -0.028072847053408623, 0.32010596990585327], "quaternion_xyzw": [-0.9364267023785362, 0.07365162807320297, -0.34257288308484346, 0.018008012926610514]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00185_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00185_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00185_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.026984378695487976, "orientation_residual_rad": 0.1440487793033354, "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": [0.49368762969970703, -0.018597332760691643, 0.28738027811050415], "quaternion_xyzw": [-0.9560607534394607, 0.023879275476631667, -0.28666475696650257, 0.05657678895817496]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 188, "eef_pose": {"position_m": [0.49333471059799194, -0.018528716638684273, 0.2867429554462433], "quaternion_xyzw": [-0.9564088527345374, 0.023207923921533476, -0.28544272201145393, 0.057148500671062204]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00188_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00188_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00188_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0007317378767766058, "orientation_residual_rad": 0.003093289653833267, "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-008", "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 188, recorded EEF XYZ is (0.493, -0.019, 0.287) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed).", "Since the prior decision observation at frame 185, EEF displacement is 3.96 cm."], "task_context": "No task instruction is available; object-level intent remains unknown.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 0.67 cm of EEF translation (−X 0.37 cm, −Y 0.01 cm, −Z 0.55 cm), 1.0° orientation change, and gripper closure 0.00.", "intent": "Describe this motion phase without assigning an unavailable task intent.", "translation_delta_m": [-0.003747314214706421, -0.00010716542601585388, -0.0055339038372039795], "translation_norm_m": 0.006684155887746401, "orientation_delta_rad": 0.01825676050437379, "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": 188, "current_images": ["images/8d165c28c7a46cca/00188_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00188_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00188_wrist_image_left.jpg"], "current_position_m": [0.49333471059799194, -0.018528716638684273, 0.2867429554462433], "current_quaternion_xyzw": [-0.9564088527345374, 0.023207923921533476, -0.28544272201145393, 0.057148500671062204], "current_gripper_closure": 0.0, "previous_observation": {"source_step": 185, "position_m": [0.5123346447944641, -0.028072847053408623, 0.32010596990585327]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/8d165c28c7a46cca/00000_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00000_wrist_image_left.jpg"], "task_source": "missing", "target_command_step": 188, "feedback_step": 189}, "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": [0.4895873963832855, -0.018635882064700127, 0.2812090516090393], "quaternion_xyzw": [-0.9587954180804618, 0.023573414044639866, -0.2768699280870951, 0.059149668969819935]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 189, "eef_pose": {"position_m": [0.48953577876091003, -0.018652543425559998, 0.281125545501709], "quaternion_xyzw": [-0.9588210428527154, 0.023617071081242228, -0.27678924302343966, 0.059094472523970605]}, "gripper_closure": 0.0, "images": ["images/8d165c28c7a46cca/00189_exterior_image_1_left.jpg", "images/8d165c28c7a46cca/00189_exterior_image_2_left.jpg", "images/8d165c28c7a46cca/00189_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 1, "position_residual_m": 9.957535075955093e-05, "orientation_residual_rad": 0.0002201753205213978, "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 189, EEF displacement is 0.68 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": 189, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.006782515068976652, "position_residual_m": 9.957535075955093e-05, "orientation_residual_rad": 0.0002201753205213978}, "provenance": {"observation_step": 188, "target_command_step": 188, "feedback_step": 189, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "b07f99cf75794fd2", "decision_index": 0, "split": "validation", "task": "Use the duster to wipe the whiteboard", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.3072027266025543, 0.05097102001309395, 0.4717368483543396], "quaternion_xyzw": [-0.9905385887860154, -0.12450225771318685, 0.01838267995592172, 0.05472265552553662]}, "gripper_closure": 0.0, "images": ["images/b07f99cf75794fd2/00000_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00000_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00000_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 duster", "intent": "Align the end effector for a candidate interaction with duster.", "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 duster. 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 (0.307, 0.051, 0.472) m in robot-base coordinates.", "Recorded gripper closure is 0.00 (0 open, 1 closed)."], "task_context": "The instruction requests: Use the duster to wipe the whiteboard.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 10.21 cm of EEF translation (+X 5.19 cm, +Y 1.96 cm, −Z 8.57 cm), 9.1° orientation change, and gripper closure 0.00.", "intent": "Align the end effector for a candidate interaction with duster.", "translation_delta_m": [0.05185791850090027, 0.01964099332690239, -0.08570107817649841], "translation_norm_m": 0.10207686873492805, "orientation_delta_rad": 0.15944919523261145, "gripper_from": 0.0, "gripper_target": 0.0, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect tool retention, surface contact, and the wiped area; a stroke does not verify cleaning.", "evidence": {"current_observation_step": 0, "current_images": ["images/b07f99cf75794fd2/00000_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00000_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00000_wrist_image_left.jpg"], "current_position_m": [0.3072027266025543, 0.05097102001309395, 0.4717368483543396], "current_quaternion_xyzw": [-0.9905385887860154, -0.12450225771318685, 0.01838267995592172, 0.05472265552553662], "current_gripper_closure": 0.0, "previous_observation": null, "initial_scene_observation_step": 0, "initial_scene_images": ["images/b07f99cf75794fd2/00000_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 8, "feedback_step": 9}, "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": [0.3590606451034546, 0.07061201333999634, 0.3860357701778412], "quaternion_xyzw": [-0.9828676721811617, -0.15784764714122104, 0.08796787126678556, 0.03628929453647993]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 9, "eef_pose": {"position_m": [0.33041635155677795, 0.06052568554878235, 0.4108908772468567], "quaternion_xyzw": [-0.9869158186860668, -0.13543763843842876, 0.07636580211617422, 0.04268579609876759]}, "gripper_closure": 0.0, "images": ["images/b07f99cf75794fd2/00009_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00009_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00009_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.039242908358573914, "orientation_residual_rad": 0.05269380892807077, "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 9, EEF displacement is 6.58 cm; remaining target position residual is 3.92 cm and orientation residual is 3.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 9, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06582094056625802, "position_residual_m": 0.039242908358573914, "orientation_residual_rad": 0.05269380892807077}, "provenance": {"observation_step": 0, "target_command_step": 8, "feedback_step": 9, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "b07f99cf75794fd2", "decision_index": 1, "split": "validation", "task": "Use the duster to wipe the whiteboard", "instruction_available": true, "observation": {"source_step": 9, "eef_pose": {"position_m": [0.33041635155677795, 0.06052568554878235, 0.4108908772468567], "quaternion_xyzw": [-0.9869158186860668, -0.13543763843842876, 0.07636580211617422, 0.04268579609876759]}, "gripper_closure": 0.0, "images": ["images/b07f99cf75794fd2/00009_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00009_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00009_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.3590606451034546, 0.07061201333999634, 0.3860357701778412], "quaternion_xyzw": [-0.9828676721811617, -0.15784764714122104, 0.08796787126678556, 0.03628929453647993]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 9, "eef_pose": {"position_m": [0.33041635155677795, 0.06052568554878235, 0.4108908772468567], "quaternion_xyzw": [-0.9869158186860668, -0.13543763843842876, 0.07636580211617422, 0.04268579609876759]}, "gripper_closure": 0.0, "images": ["images/b07f99cf75794fd2/00009_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00009_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00009_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.039242908358573914, "orientation_residual_rad": 0.05269380892807077, "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 duster", "intent": "Align the end effector for a candidate interaction with duster.", "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": "b07f99cf75794fd2", "decision_index": 8, "split": "validation", "task": "Use the duster to wipe the whiteboard", "instruction_available": true, "observation": {"source_step": 71, "eef_pose": {"position_m": [0.4790142774581909, 0.14310786128044128, 0.16793502867221832], "quaternion_xyzw": [-0.9742615328202294, -0.1489822141625713, 0.16628091597779715, 0.031135550606654547]}, "gripper_closure": 0.23348015546798706, "images": ["images/b07f99cf75794fd2/00071_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00071_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00071_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.46777698397636414, 0.13108868896961212, 0.16727326810359955], "quaternion_xyzw": [-0.9701206379372141, -0.16376710252467733, 0.17721343107526005, 0.025331478944163717]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 61, "eef_pose": {"position_m": [0.4557513892650604, 0.1278475672006607, 0.17504948377609253], "quaternion_xyzw": [-0.9694977215232005, -0.16949449751983195, 0.1736087697906888, 0.034724318907447226]}, "gripper_closure": 0.0, "images": ["images/b07f99cf75794fd2/00061_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00061_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00061_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 14, "position_residual_m": 0.014682959765195847, "orientation_residual_rad": 0.023187204176012985, "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": [0.48088911175727844, 0.14411373436450958, 0.1744767129421234], "quaternion_xyzw": [-0.9762058000695459, -0.14089991287875112, 0.16334109123460275, 0.02211647294727466]}, "gripper_closure": 0.48348015546798706, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 71, "eef_pose": {"position_m": [0.4790142774581909, 0.14310786128044128, 0.16793502867221832], "quaternion_xyzw": [-0.9742615328202294, -0.1489822141625713, 0.16628091597779715, 0.031135550606654547]}, "gripper_closure": 0.23348015546798706, "images": ["images/b07f99cf75794fd2/00071_exterior_image_1_left.jpg", "images/b07f99cf75794fd2/00071_exterior_image_2_left.jpg", "images/b07f99cf75794fd2/00071_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.006878983695060015, "orientation_residual_rad": 0.025226352071507304, "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: duster", "intent": "Attempt to acquire duster; 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 0.23 (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 0.17 while requesting the labeled pose. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 212, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.016550289125264055, "position_residual_m": 2.510638296371326e-06, "orientation_residual_rad": 1.2186521878845611e-05}, "provenance": {"observation_step": 198, "target_command_step": 211, "feedback_step": 212, "boundary_reason": "episode_end", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "e9b5ca757b2ff361", "decision_index": 0, "split": "validation", "task": "Put the towel on the table into the box", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.44525882601737976, 0.04782361909747124, 0.4217451214790344], "quaternion_xyzw": [0.9800430033269082, 0.0879627902049607, -0.11762278285361483, 0.13395200679012956]}, "gripper_closure": 0.0, "images": ["images/e9b5ca757b2ff361/00000_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00000_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00000_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": "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). 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.86 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.97 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.98 while requesting the labeled pose. 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{"episode_id": "e9b5ca757b2ff361", "decision_index": 37, "split": "validation", "task": "Put the towel on the table into the box", "instruction_available": true, "observation": {"source_step": 373, "eef_pose": {"position_m": [0.582021951675415, -0.19161976873874664, 0.291371613740921], "quaternion_xyzw": [0.9969790405093147, 0.01665814739248824, 0.02948521830209749, 0.06989936203037836]}, "gripper_closure": 0.9735682606697083, "images": ["images/e9b5ca757b2ff361/00373_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00373_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00373_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.58221834897995, -0.182752788066864, 0.3376806974411011], "quaternion_xyzw": [0.9952959347883329, 0.01782715271271686, 0.0508311534535781, 0.08052570185074223]}, "gripper_closure": 0.9596636891365051, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 361, "eef_pose": {"position_m": [0.5745264291763306, -0.17209194600582123, 0.33909210562705994], "quaternion_xyzw": [0.9968924700867434, 0.020369479529168823, 0.038277737070584204, 0.06576702998324681]}, "gripper_closure": 0.9603524208068848, "images": ["images/e9b5ca757b2ff361/00361_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00361_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00361_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.013221620582044125, "orientation_residual_rad": 0.039213840630082694, "gripper_residual": 0.0006887316703796387, "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": [0.5890558362007141, -0.19463001191616058, 0.2832261621952057], "quaternion_xyzw": [0.9967823180424744, 0.028168298455585127, 0.03492766745460122, 0.0664199928196997]}, "gripper_closure": 0.9759997725486755, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 373, "eef_pose": {"position_m": [0.582021951675415, -0.19161976873874664, 0.291371613740921], "quaternion_xyzw": [0.9969790405093147, 0.01665814739248824, 0.02948521830209749, 0.06989936203037836]}, "gripper_closure": 0.9735682606697083, "images": ["images/e9b5ca757b2ff361/00373_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00373_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00373_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.011175217106938362, "orientation_residual_rad": 0.02640083865165458, "gripper_residual": 0.002431511878967285, "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-014", "phase": "lower_with_closure", "title": "Lower / position candidate interaction: towel", "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 0.97 (0 open, 1 closed). 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.97 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 388, recorded EEF XYZ is (0.580, -0.185, 0.255) m in robot-base coordinates.", "Recorded gripper closure is 0.97 (0 open, 1 closed).", "Since the prior decision observation at frame 373, EEF displacement is 3.71 cm."], "task_context": "The instruction requests: Put the towel on the table into the box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 6.68 cm of EEF translation (−X 0.43 cm, +Y 0.60 cm, +Z 6.64 cm), 4.5° orientation change, and gripper closure 0.97.", "intent": "Raise the end effector while maintaining closure; retention of towel remains unverified.", "translation_delta_m": [-0.004326164722442627, 0.005983978509902954, 0.06643667817115784], "translation_norm_m": 0.06684576206784307, "orientation_delta_rad": 0.07864790821506, "gripper_from": 0.9691630005836487, "gripper_target": 0.968474268913269, "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": 388, "current_images": ["images/e9b5ca757b2ff361/00388_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00388_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00388_wrist_image_left.jpg"], "current_position_m": [0.580223798751831, -0.18542107939720154, 0.25478672981262207], "current_quaternion_xyzw": [0.9977272398995339, 0.037168309401025446, 0.0031557622004234494, 0.05611517355994123], "current_gripper_closure": 0.9691630005836487, "previous_observation": {"source_step": 373, "position_m": [0.582021951675415, -0.19161976873874664, 0.291371613740921]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/e9b5ca757b2ff361/00000_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 402, "feedback_step": 403}, "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": [0.5758976340293884, -0.17943710088729858, 0.3212234079837799], "quaternion_xyzw": [0.9973808305067997, 0.012866432795701495, 0.0333130954709237, 0.06289810422282419]}, "gripper_closure": 0.968474268913269, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 403, "eef_pose": {"position_m": [0.581283450126648, -0.18491055071353912, 0.29195019602775574], "quaternion_xyzw": [0.9976911257847859, 0.023097647400854692, 0.023860406427237177, 0.05924185361684226]}, "gripper_closure": 0.9691630005836487, "images": ["images/e9b5ca757b2ff361/00403_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00403_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00403_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.030263619497418404, "orientation_residual_rad": 0.02880965963507865, "gripper_residual": 0.0006887316703796387, "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 403, EEF displacement is 3.72 cm; remaining target position residual is 3.03 cm and orientation residual is 1.7°. 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 411, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.053592313557238036, "position_residual_m": 0.028917349874973297, "orientation_residual_rad": 0.03208277899456697}, "provenance": {"observation_step": 403, "target_command_step": 410, "feedback_step": 411, "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 towel remains unverified. Maintain closure toward 0.97 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.96 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 0.21 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.94 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Decrease closure toward 0.91 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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{"episode_id": "e9b5ca757b2ff361", "decision_index": 59, "split": "validation", "task": "Put the towel on the table into the box", "instruction_available": true, "observation": {"source_step": 601, "eef_pose": {"position_m": [0.5584707856178284, -0.16554485261440277, 0.3093791604042053], "quaternion_xyzw": [0.9878548634116284, -0.07169973113500383, 0.08450487629194563, 0.10890749869519688]}, "gripper_closure": 0.9603524208068848, "images": ["images/e9b5ca757b2ff361/00601_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00601_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00601_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5540314316749573, -0.16207978129386902, 0.2604886591434479], "quaternion_xyzw": [0.9916841532169809, -0.06666372574957755, 0.05836481287290503, 0.09333829088758408]}, "gripper_closure": 0.9655535817146301, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 586, "eef_pose": {"position_m": [0.5484105944633484, -0.15908193588256836, 0.2665356397628784], "quaternion_xyzw": [0.9898797538880822, -0.07763184442292648, 0.05974899585530759, 0.10267145206067042]}, "gripper_closure": 0.9603524208068848, "images": ["images/e9b5ca757b2ff361/00586_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00586_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00586_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 11, "position_residual_m": 0.008783328346908092, "orientation_residual_rad": 0.029160460224117262, "gripper_residual": 0.005201160907745361, "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": [0.5553409457206726, -0.15760669112205505, 0.3483208417892456], "quaternion_xyzw": [0.9851522534295722, -0.07430453280217904, 0.09873698407371953, 0.1191842352985985]}, "gripper_closure": 0.9609671235084534, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 601, "eef_pose": {"position_m": [0.5584707856178284, -0.16554485261440277, 0.3093791604042053], "quaternion_xyzw": [0.9878548634116284, -0.07169973113500383, 0.08450487629194563, 0.10890749869519688]}, "gripper_closure": 0.9603524208068848, "images": ["images/e9b5ca757b2ff361/00601_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00601_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00601_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.039865583181381226, "orientation_residual_rad": 0.035903312040669995, "gripper_residual": 0.0006147027015686035, "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-029", "phase": "raise_with_closure", "title": "Raise candidate interaction: towel", "intent": "Raise the end effector while maintaining closure; retention of towel remains unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.96 (0 open, 1 closed). 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Object contact and task completion require observation.", "observed_facts": ["At frame 601, recorded EEF XYZ is (0.558, -0.166, 0.309) m in robot-base coordinates.", "Recorded gripper closure is 0.96 (0 open, 1 closed).", "Since the prior decision observation at frame 586, EEF displacement is 4.45 cm."], "task_context": "The instruction requests: Put the towel on the table into the box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 7.89 cm of EEF translation (−X 1.66 cm, +Y 2.28 cm, +Z 7.37 cm), 4.3° orientation change, and gripper closure 0.96.", "intent": "Raise the end effector while maintaining closure; retention of towel remains unverified.", "translation_delta_m": [-0.016588687896728516, 0.022760793566703796, 0.07368072867393494], "translation_norm_m": 0.07888021341149623, "orientation_delta_rad": 0.07510606578161706, "gripper_from": 0.9603524208068848, "gripper_target": 0.9560128450393677, "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": 601, "current_images": ["images/e9b5ca757b2ff361/00601_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00601_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00601_wrist_image_left.jpg"], "current_position_m": [0.5584707856178284, -0.16554485261440277, 0.3093791604042053], "current_quaternion_xyzw": [0.9878548634116284, -0.07169973113500383, 0.08450487629194563, 0.10890749869519688], "current_gripper_closure": 0.9603524208068848, "previous_observation": {"source_step": 586, "position_m": [0.5484105944633484, -0.15908193588256836, 0.2665356397628784]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/e9b5ca757b2ff361/00000_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 605, "feedback_step": 606}, "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": [0.5418820977210999, -0.14278405904769897, 0.38305988907814026], "quaternion_xyzw": [0.982486308469848, -0.0811366535726355, 0.11930527544076615, 0.11791415677656306]}, "gripper_closure": 0.9560128450393677, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 606, "eef_pose": {"position_m": [0.5569725036621094, -0.1563156247138977, 0.3596958518028259], "quaternion_xyzw": [0.9847131776280745, -0.07183915724161775, 0.10860947768943358, 0.115685239544475]}, "gripper_closure": 0.9559471607208252, "images": ["images/e9b5ca757b2ff361/00606_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00606_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/00606_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.030930597335100174, "orientation_residual_rad": 0.029036132522130567, "gripper_residual": 6.568431854248047e-05, "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 606, EEF displacement is 5.12 cm; remaining target position residual is 3.09 cm and orientation residual is 1.7°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 606, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.051178051250143505, "position_residual_m": 0.030930597335100174, "orientation_residual_rad": 0.029036132522130567}, "provenance": {"observation_step": 601, "target_command_step": 605, "feedback_step": 606, "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 towel; object attachment is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.96 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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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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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.98 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.98 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.97 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.46 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Decrease closure toward 0.37 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Increase closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.95 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Increase closure toward 0.96 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 0.55 while requesting the labeled pose. 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Attempt to acquire towel; closure alone cannot verify a grasp. Increase closure toward 0.94 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.94 while requesting the labeled pose. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.96 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 1214, recorded EEF XYZ is (0.518, -0.080, 0.304) m in robot-base coordinates.", "Recorded gripper closure is 0.94 (0 open, 1 closed).", "Since the prior decision observation at frame 1204, EEF displacement is 5.13 cm."], "task_context": "The instruction requests: Put the towel on the table into the box.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 2.73 cm of EEF translation (+X 0.13 cm, −Y 2.64 cm, −Z 0.69 cm), 13.3° orientation change, and gripper closure 0.96.", "intent": "Reposition the candidate interaction with towel; object attachment is unverified.", "translation_delta_m": [0.0012955665588378906, -0.026422031223773956, -0.006905943155288696], "translation_norm_m": 0.027340341577283628, "orientation_delta_rad": 0.23282206770751585, "gripper_from": 0.9427312612533569, "gripper_target": 0.9560249447822571, "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": 1214, "current_images": ["images/e9b5ca757b2ff361/01214_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/01214_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/01214_wrist_image_left.jpg"], "current_position_m": [0.5179054737091064, -0.08009694516658783, 0.3039146363735199], "current_quaternion_xyzw": [0.9931975015182967, 0.006919689331826876, 0.09846837352620579, 0.06176423149742636], "current_gripper_closure": 0.9427312612533569, "previous_observation": {"source_step": 1204, "position_m": [0.5137522220611572, -0.07711616158485413, 0.35491234064102173]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/e9b5ca757b2ff361/00000_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/00000_wrist_image_left.jpg"], "task_source": "original_rlds", "target_command_step": 1228, "feedback_step": 1229}, "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": [0.5192010402679443, -0.10651897639036179, 0.2970086932182312], "quaternion_xyzw": [0.988593933730871, -0.10640578328464015, 0.07600611514944505, 0.07471889944313757]}, "gripper_closure": 0.9560249447822571, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 1229, "eef_pose": {"position_m": [0.518147349357605, -0.10357081890106201, 0.2890911400318146], "quaternion_xyzw": [0.9935954358907667, -0.05101590086568977, 0.09392703007509318, 0.036649702006587764]}, "gripper_closure": 0.9515418410301208, "images": ["images/e9b5ca757b2ff361/01229_exterior_image_1_left.jpg", "images/e9b5ca757b2ff361/01229_exterior_image_2_left.jpg", "images/e9b5ca757b2ff361/01229_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 15, "position_residual_m": 0.00851407926529646, "orientation_residual_rad": 0.13950554799174006, "gripper_residual": 0.0044831037521362305, "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 1229, EEF displacement is 2.78 cm; remaining target position residual is 0.85 cm and orientation residual is 8.0°. 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Reposition the candidate interaction with towel; object attachment is unverified. Maintain closure toward 0.95 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Maintain closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of towel remains unverified. Decrease closure toward 0.93 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of green block remains unverified. Increase closure toward 0.79 while requesting the labeled pose. 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Reposition the candidate interaction with green block; object attachment is unverified. Increase closure toward 0.79 while requesting the labeled pose. 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Lower the candidate interaction toward its next position; contact is unverified. Increase closure toward 0.58 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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{"episode_id": "c1a1f251e32344d6", "decision_index": 12, "split": "validation", "task": "Move the spatula closer", "instruction_available": true, "observation": {"source_step": 95, "eef_pose": {"position_m": [0.5486084818840027, -0.39664536714553833, 0.45652419328689575], "quaternion_xyzw": [0.9835732557249984, -0.04414417006415511, 0.15303343027766605, 0.08494534766144997]}, "gripper_closure": 0.0, "images": ["images/c1a1f251e32344d6/00095_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00095_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00095_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.5533868670463562, -0.3948807716369629, 0.47796255350112915], "quaternion_xyzw": [0.9841005540839711, -0.03352420508601472, 0.14481378761356026, 0.0972172517714142]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 90, "eef_pose": {"position_m": [0.5162642002105713, -0.359098881483078, 0.4852093756198883], "quaternion_xyzw": [0.9826049300693007, -0.04484135267951876, 0.16003124689475345, 0.08286618436181467]}, "gripper_closure": 0.0, "images": ["images/c1a1f251e32344d6/00090_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00090_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00090_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05206680670380592, "orientation_residual_rad": 0.047659869732828965, "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": [0.5628519058227539, -0.42352625727653503, 0.4407176077365875], "quaternion_xyzw": [0.9866125509753526, -0.05310922117812553, 0.13946297289941795, 0.06576597960812554]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 95, "eef_pose": {"position_m": [0.5486084818840027, -0.39664536714553833, 0.45652419328689575], "quaternion_xyzw": [0.9835732557249984, -0.04414417006415511, 0.15303343027766605, 0.08494534766144997]}, "gripper_closure": 0.0, "images": ["images/c1a1f251e32344d6/00095_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00095_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00095_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.03428272902965546, "orientation_residual_rad": 0.050661592482652444, "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 spatula", "intent": "Align the end effector for a candidate interaction with spatula.", "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 spatula; closure alone cannot verify a grasp. Increase closure toward 0.34 while requesting the labeled pose. 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Attempt to acquire spatula; closure alone cannot verify a grasp. Increase closure toward 0.96 while requesting the labeled pose. 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Raise the end effector while maintaining closure; retention of spatula remains unverified. Increase closure toward 0.96 while requesting the labeled pose. 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Reposition the candidate interaction with spatula; object attachment is unverified. Increase closure toward 0.96 while requesting the labeled pose. 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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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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": "c1a1f251e32344d6", "decision_index": 28, "split": "validation", "task": "Move the spatula closer", "instruction_available": true, "observation": {"source_step": 213, "eef_pose": {"position_m": [0.34756872057914734, -0.26870232820510864, 0.34044912457466125], "quaternion_xyzw": [0.8863772979247669, 0.4291956657727181, 0.17354343265046449, 0.00300718961754018]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00213_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00213_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00213_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.36033302545547485, -0.2762097418308258, 0.35338470339775085], "quaternion_xyzw": [0.8900520461662959, 0.41742740638911857, 0.18290751177074469, 0.010322676410631336]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 209, "eef_pose": {"position_m": [0.3897456228733063, -0.2579522430896759, 0.37944915890693665], "quaternion_xyzw": [0.9162249209018226, 0.3650054778655281, 0.1577223305553542, 0.04926014505453419]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00209_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00209_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00209_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.0433335080742836, "orientation_residual_rad": 0.14948040231524526, "gripper_residual": 0.1288546323776245, "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": [0.31507545709609985, -0.29949721693992615, 0.3110038936138153], "quaternion_xyzw": [-0.8538429110353686, -0.47406228155638164, -0.21310952787107498, 0.02831193406980804]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 213, "eef_pose": {"position_m": [0.34756872057914734, -0.26870232820510864, 0.34044912457466125], "quaternion_xyzw": [0.8863772979247669, 0.4291956657727181, 0.17354343265046449, 0.00300718961754018]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00213_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00213_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00213_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.05358319729566574, "orientation_residual_rad": 0.14993992057490377, "gripper_residual": 0.1288546323776245, "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-008", "phase": "lower_with_closure", "title": "Lower / position candidate interaction: spatula", "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 0.83 (0 open, 1 closed). 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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": 0.05048693222139805, "position_residual_m": 0.0003288016887381673, "orientation_residual_rad": 0.0005865427934557782}, "provenance": {"observation_step": 213, "target_command_step": 215, "feedback_step": 216, "boundary_reason": "translation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
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Attempt to acquire spatula; closure alone cannot verify a grasp. Increase closure toward 0.96 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 216, recorded EEF XYZ is (0.308, -0.290, 0.317) m in robot-base coordinates.", "Recorded gripper closure is 0.83 (0 open, 1 closed).", "Since the prior decision observation at frame 213, EEF displacement is 5.05 cm."], "task_context": "The instruction requests: Move the spatula closer.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 5.29 cm of EEF translation (−X 4.17 cm, −Y 2.89 cm, −Z 1.50 cm), 16.2° orientation change, and gripper closure 0.96.", "intent": "Attempt to acquire spatula; closure alone cannot verify a grasp.", "translation_delta_m": [-0.041710883378982544, -0.028911978006362915, -0.014955103397369385], "translation_norm_m": 0.052908934804260656, "orientation_delta_rad": 0.2819546983175814, "gripper_from": 0.8281938433647156, "gripper_target": 0.9570484757423401, "frame": "robot_base", "effect_status": "command_label_not_observed_effect"}, "next_observation_check": "Inspect whether the intended object is between the fingers and remains attached during motion.", "evidence": {"current_observation_step": 216, "current_images": ["images/c1a1f251e32344d6/00216_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00216_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00216_wrist_image_left.jpg"], "current_position_m": [0.3083641529083252, -0.2897779047489166, 0.3166215717792511], "current_quaternion_xyzw": [-0.8659724433141263, -0.45994564667729826, -0.1951320259885046, 0.02156900453859239], "current_gripper_closure": 0.8281938433647156, "previous_observation": {"source_step": 213, "position_m": [0.34756872057914734, -0.26870232820510864, 0.34044912457466125]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/c1a1f251e32344d6/00000_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00000_wrist_image_left.jpg"], "task_source": "updated_droid_annotations_exact_path", "target_command_step": 225, "feedback_step": 226}, "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": [0.26665326952934265, -0.31868988275527954, 0.3016664683818817], "quaternion_xyzw": [-0.7972754187547767, -0.5727259174793898, -0.1782384118705875, 0.06758697086448993]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 226, "eef_pose": {"position_m": [0.2906208038330078, -0.2927182912826538, 0.30875664949417114], "quaternion_xyzw": [-0.822331240586406, -0.533468594210817, -0.1918832801458883, 0.048614777041672295]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00226_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00226_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00226_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.036044929176568985, "orientation_residual_rad": 0.10422423372974016, "gripper_residual": 0.1288546323776245, "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 226, EEF displacement is 1.96 cm; remaining target position residual is 3.60 cm and orientation residual is 6.0°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 226, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.01962980672158278, "position_residual_m": 0.036044929176568985, "orientation_residual_rad": 0.10422423372974016}, "provenance": {"observation_step": 216, "target_command_step": 225, "feedback_step": 226, "boundary_reason": "rotation_threshold", "label_kind": "derived_future_commanded_keyframe", "future_used_for_labels_only": true}}
{"episode_id": "c1a1f251e32344d6", "decision_index": 30, "split": "validation", "task": "Move the spatula closer", "instruction_available": true, "observation": {"source_step": 226, "eef_pose": {"position_m": [0.2906208038330078, -0.2927182912826538, 0.30875664949417114], "quaternion_xyzw": [-0.822331240586406, -0.533468594210817, -0.1918832801458883, 0.048614777041672295]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00226_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00226_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00226_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.30862364172935486, -0.2896101176738739, 0.3167339265346527], "quaternion_xyzw": [-0.8660950961130736, -0.45980504588931703, -0.19493020431439712, 0.021466711661459224]}, "gripper_closure": 0.8281938433647156, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 216, "eef_pose": {"position_m": [0.3083641529083252, -0.2897779047489166, 0.3166215717792511], "quaternion_xyzw": [-0.8659724433141263, -0.45994564667729826, -0.1951320259885046, 0.02156900453859239]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00216_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00216_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00216_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 3, "position_residual_m": 0.0003288016887381673, "orientation_residual_rad": 0.0005865427934557782, "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": [0.26665326952934265, -0.31868988275527954, 0.3016664683818817], "quaternion_xyzw": [-0.7972754187547767, -0.5727259174793898, -0.1782384118705875, 0.06758697086448993]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 226, "eef_pose": {"position_m": [0.2906208038330078, -0.2927182912826538, 0.30875664949417114], "quaternion_xyzw": [-0.822331240586406, -0.533468594210817, -0.1918832801458883, 0.048614777041672295]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00226_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00226_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00226_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 10, "position_residual_m": 0.036044929176568985, "orientation_residual_rad": 0.10422423372974016, "gripper_residual": 0.1288546323776245, "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: spatula", "intent": "Reposition the candidate interaction with spatula; object attachment is unverified.", "status": "hypothesis", "semantic_alignment": "weak_task_conditioned_hypothesis"}, "thinking": {"kind": "concise_generated_decision_rationale", "text": "Recorded gripper closure is 0.83 (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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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": "c1a1f251e32344d6", "decision_index": 34, "split": "validation", "task": "Move the spatula closer", "instruction_available": true, "observation": {"source_step": 252, "eef_pose": {"position_m": [0.2089272290468216, -0.43255606293678284, 0.21740934252738953], "quaternion_xyzw": [-0.8139892845418527, -0.5491485327346457, -0.13766163866406914, 0.1300254086198219]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00252_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00252_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00252_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.19492144882678986, -0.4395538568496704, 0.23157000541687012], "quaternion_xyzw": [-0.8023591252001967, -0.5691469766331585, -0.1397706847831357, 0.11294117438987096]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 244, "eef_pose": {"position_m": [0.18867313861846924, -0.40012258291244507, 0.2531135082244873], "quaternion_xyzw": [-0.8116524325853726, -0.5526583464800283, -0.16449591843658867, 0.09343539779928822]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00244_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00244_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00244_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 9, "position_residual_m": 0.04536506533622742, "orientation_residual_rad": 0.07349026875363587, "gripper_residual": 0.1288546323776245, "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": [0.2216266691684723, -0.4496946930885315, 0.19576625525951385], "quaternion_xyzw": [-0.8167694346650229, -0.5456118485285455, -0.14521851260329177, 0.11877282912994036]}, "gripper_closure": 0.9570484757423401, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 252, "eef_pose": {"position_m": [0.2089272290468216, -0.43255606293678284, 0.21740934252738953], "quaternion_xyzw": [-0.8139892845418527, -0.5491485327346457, -0.13766163866406914, 0.1300254086198219]}, "gripper_closure": 0.8281938433647156, "images": ["images/c1a1f251e32344d6/00252_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00252_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00252_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.03038801997900009, "orientation_residual_rad": 0.028563453969689005, "gripper_residual": 0.1288546323776245, "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-014", "phase": "open_gripper", "title": "Open gripper / inspect release: spatula", "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 0.83 (0 open, 1 closed). 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This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 256, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.006476417903948792, "position_residual_m": 0.02128591202199459, "orientation_residual_rad": 0.08641333524231515}, "provenance": {"observation_step": 252, "target_command_step": 255, "feedback_step": 256, "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 0.12 while requesting the labeled pose. Object contact and task completion require observation.", "observed_facts": ["At frame 256, recorded EEF XYZ is (0.210, -0.439, 0.218) m in robot-base coordinates.", "Recorded gripper closure is 0.75 (0 open, 1 closed).", "Since the prior decision observation at frame 252, EEF displacement is 0.65 cm."], "task_context": "The instruction requests: Move the spatula closer.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 11.90 cm of EEF translation (+X 3.09 cm, +Y 3.91 cm, +Z 10.81 cm), 12.7° orientation change, and gripper closure 0.12.", "intent": "Open the gripper for release or clearance; verify the result in the next images.", "translation_delta_m": [0.03093215823173523, 0.039095550775527954, 0.10806609690189362], "translation_norm_m": 0.11901067936502359, "orientation_delta_rad": 0.22147246981915636, "gripper_from": 0.7533039450645447, "gripper_target": 0.12444934993982315, "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": 256, "current_images": ["images/c1a1f251e32344d6/00256_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00256_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00256_wrist_image_left.jpg"], "current_position_m": [0.21044763922691345, -0.4388272762298584, 0.2179609090089798], "current_quaternion_xyzw": [-0.8181378340808796, -0.541615975055395, -0.14968142913663118, 0.1220577313481484], "current_gripper_closure": 0.7533039450645447, "previous_observation": {"source_step": 252, "position_m": [0.2089272290468216, -0.43255606293678284, 0.21740934252738953]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/c1a1f251e32344d6/00000_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00000_wrist_image_left.jpg"], "task_source": "updated_droid_annotations_exact_path", "target_command_step": 260, "feedback_step": 261}, "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": [0.24137979745864868, -0.39973172545433044, 0.3260270059108734], "quaternion_xyzw": [-0.8735209055138102, -0.46427217476599486, -0.1287798060711359, 0.06948623544751399]}, "gripper_closure": 0.12444934993982315, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 261, "eef_pose": {"position_m": [0.23740434646606445, -0.4369368851184845, 0.26459723711013794], "quaternion_xyzw": [-0.8477753302143055, -0.5094847041370025, -0.12263657206522818, 0.08162473229693436]}, "gripper_closure": 0.37444934248924255, "images": ["images/c1a1f251e32344d6/00261_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00261_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00261_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.07192805409431458, "orientation_residual_rad": 0.10756927393398664, "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 261, EEF displacement is 5.39 cm; remaining target position residual is 7.19 cm and orientation residual is 6.2°. 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{"episode_id": "c1a1f251e32344d6", "decision_index": 36, "split": "validation", "task": "Move the spatula closer", "instruction_available": true, "observation": {"source_step": 261, "eef_pose": {"position_m": [0.23740434646606445, -0.4369368851184845, 0.26459723711013794], "quaternion_xyzw": [-0.8477753302143055, -0.5094847041370025, -0.12263657206522818, 0.08162473229693436]}, "gripper_closure": 0.37444934248924255, "images": ["images/c1a1f251e32344d6/00261_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00261_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00261_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.22233836352825165, -0.43843990564346313, 0.2356117069721222], "quaternion_xyzw": [-0.8335710896115479, -0.5299680968903592, -0.12634812913324997, 0.09126447888831199]}, "gripper_closure": 0.5033039450645447, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 256, "eef_pose": {"position_m": [0.21044763922691345, -0.4388272762298584, 0.2179609090089798], "quaternion_xyzw": [-0.8181378340808796, -0.541615975055395, -0.14968142913663118, 0.1220577313481484]}, "gripper_closure": 0.7533039450645447, "images": ["images/c1a1f251e32344d6/00256_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00256_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00256_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.02128591202199459, "orientation_residual_rad": 0.08641333524231515, "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": [0.24137979745864868, -0.39973172545433044, 0.3260270059108734], "quaternion_xyzw": [-0.8735209055138102, -0.46427217476599486, -0.1287798060711359, 0.06948623544751399]}, "gripper_closure": 0.12444934993982315, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 261, "eef_pose": {"position_m": [0.23740434646606445, -0.4369368851184845, 0.26459723711013794], "quaternion_xyzw": [-0.8477753302143055, -0.5094847041370025, -0.12263657206522818, 0.08162473229693436]}, "gripper_closure": 0.37444934248924255, "images": ["images/c1a1f251e32344d6/00261_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00261_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00261_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 5, "position_residual_m": 0.07192805409431458, "orientation_residual_rad": 0.10756927393398664, "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": 36, "subgoal": {"id": "sg-014", "phase": "open_gripper", "title": "Open gripper / inspect release: spatula", "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 0.37 (0 open, 1 closed). 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Object contact and task completion require observation.", "observed_facts": ["At frame 261, recorded EEF XYZ is (0.237, -0.437, 0.265) m in robot-base coordinates.", "Recorded gripper closure is 0.37 (0 open, 1 closed).", "Since the prior decision observation at frame 256, EEF displacement is 5.39 cm."], "task_context": "The instruction requests: Move the spatula closer.", "not_demonstrator_thought": true}, "action_annotation": {"text": "Request 13.22 cm of EEF translation (+X 2.20 cm, +Y 8.15 cm, +Z 10.17 cm), 19.7° 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": [0.02199077606201172, 0.08154916763305664, 0.10171368718147278], "translation_norm_m": 0.13221019300153986, "orientation_delta_rad": 0.34338550393293665, "gripper_from": 0.37444934248924255, "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": 261, "current_images": ["images/c1a1f251e32344d6/00261_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00261_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00261_wrist_image_left.jpg"], "current_position_m": [0.23740434646606445, -0.4369368851184845, 0.26459723711013794], "current_quaternion_xyzw": [-0.8477753302143055, -0.5094847041370025, -0.12263657206522818, 0.08162473229693436], "current_gripper_closure": 0.37444934248924255, "previous_observation": {"source_step": 256, "position_m": [0.21044763922691345, -0.4388272762298584, 0.2179609090089798]}, "initial_scene_observation_step": 0, "initial_scene_images": ["images/c1a1f251e32344d6/00000_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00000_wrist_image_left.jpg"], "task_source": "updated_droid_annotations_exact_path", "target_command_step": 264, "feedback_step": 265}, "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": [0.25939512252807617, -0.35538771748542786, 0.3663109242916107], "quaternion_xyzw": [-0.9201952848266282, -0.35520165117789, -0.13220227177497806, 0.09795398981601493]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 265, "eef_pose": {"position_m": [0.2500309944152832, -0.41197770833969116, 0.31896141171455383], "quaternion_xyzw": [-0.8935968839449943, -0.4198365282970759, -0.140422084384231, 0.07418582565721552]}, "gripper_closure": 0.07048459351062775, "images": ["images/c1a1f251e32344d6/00265_exterior_image_1_left.jpg", "images/c1a1f251e32344d6/00265_exterior_image_2_left.jpg", "images/c1a1f251e32344d6/00265_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.07437802106142044, "orientation_residual_rad": 0.1485957214406157, "gripper_residual": 0.07048459351062775, "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 265, EEF displacement is 6.11 cm; remaining target position residual is 7.44 cm and orientation residual is 8.5°. This is recorded demonstration feedback; subgoal and object outcome remain unverified.", "available_after_source_step": 265, "object_outcome": "unverified", "subgoal_completion": "unverified", "observed_translation_m": 0.06113800965298089, "position_residual_m": 0.07437802106142044, "orientation_residual_rad": 0.1485957214406157}, "provenance": {"observation_step": 261, "target_command_step": 264, "feedback_step": 265, "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. Decrease closure toward 0.00 while requesting the labeled pose. 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{"episode_id": "1fea4ec9395883ff", "decision_index": 0, "split": "validation", "task": "Remove the banana from the box", "instruction_available": true, "observation": {"source_step": 0, "eef_pose": {"position_m": [0.4088904857635498, -0.01416760589927435, 0.5415366888046265], "quaternion_xyzw": [-0.9908850717646144, -0.0366864478622165, -0.1292845052853676, 0.009294933588014462]}, "gripper_closure": 0.0, "images": ["images/1fea4ec9395883ff/00000_exterior_image_1_left.jpg", "images/1fea4ec9395883ff/00000_exterior_image_2_left.jpg", "images/1fea4ec9395883ff/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": "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). 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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": "510b147d6509912e", "decision_index": 10, "split": "validation", "task": "Move the yellow mug forward", "instruction_available": true, "observation": {"source_step": 72, "eef_pose": {"position_m": [0.7017654180526733, -0.04367510601878166, 0.22123119235038757], "quaternion_xyzw": [0.9889729835625715, -0.11737719710500756, 0.08705412382595606, 0.024012723877420608]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00072_exterior_image_1_left.jpg", "images/510b147d6509912e/00072_exterior_image_2_left.jpg", "images/510b147d6509912e/00072_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.6782216429710388, -0.03660031408071518, 0.2180136740207672], "quaternion_xyzw": [0.9900461604027931, -0.1269553930527789, 0.058330305617726834, 0.01698540235153377]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 64, "eef_pose": {"position_m": [0.6516435742378235, -0.0386650487780571, 0.22080962359905243], "quaternion_xyzw": [0.9878874051445806, -0.14081186036052523, 0.060962493673315035, 0.023109935171834302]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00064_exterior_image_1_left.jpg", "images/510b147d6509912e/00064_exterior_image_2_left.jpg", "images/510b147d6509912e/00064_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 12, "position_residual_m": 0.026804368942975998, "orientation_residual_rad": 0.03105511687359077, "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": [0.7358071208000183, -0.04683787748217583, 0.2177981436252594], "quaternion_xyzw": [0.9901216274268284, -0.11095134648805105, 0.08224828029900887, 0.024169857301868235]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 72, "eef_pose": {"position_m": [0.7017654180526733, -0.04367510601878166, 0.22123119235038757], "quaternion_xyzw": [0.9889729835625715, -0.11737719710500756, 0.08705412382595606, 0.024012723877420608]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00072_exterior_image_1_left.jpg", "images/510b147d6509912e/00072_exterior_image_2_left.jpg", "images/510b147d6509912e/00072_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 8, "position_residual_m": 0.03436024487018585, "orientation_residual_rad": 0.016215069763087165, "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 yellow mug", "intent": "Align the end effector for a candidate interaction with yellow mug.", "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 yellow mug; object attachment is unverified. Increase closure toward 0.98 while requesting the labeled pose. 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Reposition the candidate interaction with yellow mug; object attachment is unverified. Increase closure toward 0.98 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 0.53 while requesting the labeled pose. 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{"episode_id": "510b147d6509912e", "decision_index": 20, "split": "validation", "task": "Move the yellow mug forward", "instruction_available": true, "observation": {"source_step": 162, "eef_pose": {"position_m": [0.4595099687576294, 0.04240122437477112, 0.2500765919685364], "quaternion_xyzw": [-0.9985744223872292, 0.010580033877190618, -0.031078977918174173, 0.04208661270203455]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00162_exterior_image_1_left.jpg", "images/510b147d6509912e/00162_exterior_image_2_left.jpg", "images/510b147d6509912e/00162_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "history": [{"action": {"name": "move_eef", "arguments": {"frame": "robot_base", "target_pose": {"position_m": [0.45004338026046753, 0.04346497356891632, 0.24730074405670166], "quaternion_xyzw": [-0.9986696625601608, 0.006499412696835443, -0.014812954231634765, 0.04896160846523055]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 158, "eef_pose": {"position_m": [0.47674083709716797, 0.05076003447175026, 0.20176878571510315], "quaternion_xyzw": [-0.9990065300454565, 0.011392103926241706, -0.00788261790282932, 0.042356076655755304]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00158_exterior_image_1_left.jpg", "images/510b147d6509912e/00158_exterior_image_2_left.jpg", "images/510b147d6509912e/00158_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 13, "position_residual_m": 0.05328349769115448, "orientation_residual_rad": 0.02151424041172314, "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": [0.4358889162540436, 0.03250345215201378, 0.2866809666156769], "quaternion_xyzw": [-0.9977363942946237, 0.026842339582068827, -0.054392880335795105, 0.029034305132032433]}, "gripper_closure": 0.0, "max_steps": 15}}, "feedback": {"type": "recorded_demonstration_segment", "observation": {"source_step": 162, "eef_pose": {"position_m": [0.4595099687576294, 0.04240122437477112, 0.2500765919685364], "quaternion_xyzw": [-0.9985744223872292, 0.010580033877190618, -0.031078977918174173, 0.04208661270203455]}, "gripper_closure": 0.0, "images": ["images/510b147d6509912e/00162_exterior_image_1_left.jpg", "images/510b147d6509912e/00162_exterior_image_2_left.jpg", "images/510b147d6509912e/00162_wrist_image_left.jpg"], "coordinate_frame": "robot_base"}, "steps_elapsed": 4, "position_residual_m": 0.044674381613731384, "orientation_residual_rad": 0.06258260294968021, "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-006", "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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