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{
"sample": "cut_sausage_episode_13",
"task_id": "cut_sausage",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_13.hdf5",
"verdict": "fail",
"onset": 8.023999,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to align with the sausage.\nObservation: The right gripper approached the sausage, offset slightly to the left during alignment.\nResult: The right gripper failed to cut a piece of sausage.",
"avoidance": "Move the right gripper slightly to the right."
},
{
"sample": "cut_sausage_episode_18",
"task_id": "cut_sausage",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "cut_sausage_episode_19",
"task_id": "cut_sausage",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "cut_sausage_episode_20",
"task_id": "cut_sausage",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_20.hdf5",
"verdict": "fail",
"onset": 5.183108,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the knife holder.\nObservation: the right gripper approached the knife holder with its orientation misaligned relative to the knife holder during approach\nResult: the gripper failed to grasp the knife",
"avoidance": "Rotate the right gripper by 90 degrees clockwise"
},
{
"sample": "cut_sausage_episode_21",
"task_id": "cut_sausage",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_21.hdf5",
"verdict": "fail",
"onset": 4.535834,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the knife holder.\nObservation: The right gripper approached the knife holder, offset slightly backward with its orientation misaligned relative to the knife holder.\nResult: The knife was not picked up.",
"avoidance": "Move the right gripper slightly forward and rotate the right gripper"
},
{
"sample": "cut_sausage_episode_27",
"task_id": "cut_sausage",
"episode": "episode_27",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_27.hdf5",
"verdict": "fail",
"onset": 6.505105,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the sausage.\nObservation: The right gripper released and slipped the knife while moving to the cutting board.\nResult: The right gripper failed to move the knife and align it with the sausage.",
"avoidance": "Close the right gripper while moving the knife."
},
{
"sample": "cut_sausage_episode_28",
"task_id": "cut_sausage",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_28.hdf5",
"verdict": "fail",
"onset": 5.416496,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the sausage.\nObservation: the right gripper failed to close sufficiently to secure the knife during alignment with the sausage\nResult: the knife slipped and could not be positioned for cutting.",
"avoidance": "Close the right gripper tightly"
},
{
"sample": "cut_sausage_episode_30",
"task_id": "cut_sausage",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/cut_sausage/episode_30.hdf5",
"verdict": "fail",
"onset": 8.435089,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the sausage.\nObservation: the right gripper had its orientation misaligned relative to the sausage's cutting axis during the approach to the sausage\nResult: The knife could not cut the sausage, hitting the chopping board instead",
"avoidance": "rotate the right gripper during the approach phase"
},
{
"sample": "drag_basket_place_cube_ep1_episode_0",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_1",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_2",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_3",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_4",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_5",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_6",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_7",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_8",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_9",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_10",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_11",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_12",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_13",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_14",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_15",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_16",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_17",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_18",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_19",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_20",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_21",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_22",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_23",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_24",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_26",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_26",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_26.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_27",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_27",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_27.hdf5",
"verdict": "success"
},
{
"sample": "drag_basket_place_cube_ep1_episode_28",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_28.hdf5",
"verdict": "fail",
"onset": 3.089486,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper approached the blue block while the basket was not in the center; the action order was wrong.\nResult: The right arm failed to approach and drag the basket.",
"avoidance": "Move the right arm to approach and drag the basket to the center first."
},
{
"sample": "drag_basket_place_cube_ep1_episode_29",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_29.hdf5",
"verdict": "fail",
"onset": 2.534842,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the left gripper incorrectly grasped the blue cube before the right gripper had dragged the basket to the center\nResult: the right gripper failed to approach and grasp the basket",
"avoidance": "Move the right arm to approach and align with the basket first."
},
{
"sample": "drag_basket_place_cube_ep1_episode_30",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_30.hdf5",
"verdict": "fail",
"onset": 4.521157,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper first grasps the blue cube before the right gripper moves the basket.\nResult: The right gripper did not move the basket first, and an incorrect task sequence is executed.",
"avoidance": "The right gripper should move the basket first before the left gripper picks up and places the blue cube."
},
{
"sample": "drag_basket_place_cube_ep1_episode_32",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_32",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_32.hdf5",
"verdict": "fail",
"onset": 3.387628,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper grasped the blue cube before the right gripper had dragged the basket to the center.\nResult: The cube was placed in a misaligned basket.",
"avoidance": "The right gripper moves the basket to the center first, and then the left gripper grasps the blue cube into the basket."
},
{
"sample": "drag_basket_place_cube_ep1_episode_35",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_35",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_35.hdf5",
"verdict": "fail",
"onset": 3.100634,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the left gripper grasped the blue cube before the right gripper had dragged the basket to the center, violating the execution order.\nResult: The cube was placed in a misaligned basket, violating execution order",
"avoidance": "Move the right arm to approach and align with the basket first."
},
{
"sample": "drag_basket_place_cube_ep1_episode_149",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_149",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_149.hdf5",
"verdict": "fail",
"onset": 3.029787,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the basket has been occluded by the green plate, which prevented the right gripper from targeting it\nResult: the right gripper failed to grasp the basket",
"avoidance": "This is unavoidable; the basket has been occluded by the green plate."
},
{
"sample": "drag_basket_place_cube_ep1_episode_150",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_150",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_150.hdf5",
"verdict": "fail",
"onset": 4.16,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The basket is occluded by a green plate, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the basket.",
"avoidance": "This is unavoidable; the basket is occluded by a green plate."
},
{
"sample": "drag_basket_place_cube_ep1_episode_151",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_151",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_151.hdf5",
"verdict": "fail",
"onset": 2.77721,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The basket has been taken away by a human, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the basket.",
"avoidance": "This is unavoidable; the basket has been taken away by a human."
},
{
"sample": "drag_basket_place_cube_ep1_episode_152",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_152",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_152.hdf5",
"verdict": "fail",
"onset": 2.962421,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the basket has been taken away by a human, which prevents the right gripper from grasping it\nResult: the right gripper failed to grasp the basket",
"avoidance": "This is unavoidable; the basket has been taken away by a human."
},
{
"sample": "drag_basket_place_cube_ep1_episode_153",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_153",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_153.hdf5",
"verdict": "fail",
"onset": 10.72,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube is occluded by a green plate, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.",
"avoidance": "This is unavoidable; the blue cube is occluded by a green plate."
},
{
"sample": "drag_basket_place_cube_ep1_episode_154",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_154",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_154.hdf5",
"verdict": "fail",
"onset": 8.72,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube is occluded by a green plate, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.",
"avoidance": "This is unavoidable; the blue cube is occluded by a green plate."
},
{
"sample": "drag_basket_place_cube_ep1_episode_155",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_155",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_155.hdf5",
"verdict": "fail",
"onset": 11.12,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.",
"avoidance": "This is unavoidable; the blue cube has been taken away by a human."
},
{
"sample": "drag_basket_place_cube_ep1_episode_156",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_156",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_156.hdf5",
"verdict": "fail",
"onset": 8.92,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.",
"avoidance": "This is unavoidable; the blue cube has been taken away by a human."
},
{
"sample": "drag_basket_place_cube_ep1_episode_157",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_157",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_157.hdf5",
"verdict": "fail",
"onset": 8.68,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: the human hand occluded the blue cube, which prevented the left gripper from grasping it\nResult: the left gripper failed to grasp the blue cube",
"avoidance": "This is unavoidable; the target object has been occluded."
},
{
"sample": "drag_basket_place_cube_ep1_episode_158",
"task_id": "drag_basket_place_cube_ep1",
"episode": "episode_158",
"robot": "agilex",
"hdf5": "episodes/drag_basket_place_cube_ep1/episode_158.hdf5",
"verdict": "fail",
"onset": 11.72,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to position the blue cube over the basket.\nObservation: The basket is occluded by human hands, which prevents the left gripper from placing the blue cube into it.\nResult: The left gripper failed to place the blue cube into the basket.",
"avoidance": "This is unavoidable; the basket is occluded by human hands."
},
{
"sample": "grasp_bottle_place_bowl_episode_0",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_0.hdf5",
"verdict": "fail",
"onset": 2.431894,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The right gripper was incorrectly used instead of the left gripper to approach and grasp the bottle.\nResult: The left gripper failed to approach and grasp the bottle.",
"avoidance": "Move the left arm instead of the right arm to approach and align the bottle."
},
{
"sample": "grasp_bottle_place_bowl_episode_1",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_bottle_place_bowl_episode_5",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_5.hdf5",
"verdict": "fail",
"onset": 2.968947,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle with its orientation misaligned relative to the bottle.\nResult: The left gripper failed to align with and grasp the bottle.",
"avoidance": "Rotate the left gripper counterclockwise before grasping."
},
{
"sample": "grasp_bottle_place_bowl_episode_6",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_6.hdf5",
"verdict": "fail",
"onset": 3.16,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: the left gripper approached the bottle offset slightly to the left and slightly forward with its orientation misaligned relative to the bottle. Result: the gripper failed to grasp the bottle.",
"avoidance": "Move the left gripper slightly to the right and backward, and rotate it counterclockwise."
},
{
"sample": "grasp_bottle_place_bowl_episode_7",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_7.hdf5",
"verdict": "fail",
"onset": 2.647944,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the bottle.\nObservation: the left gripper failed to close with sufficient force to grasp the bottle\nResult: The bottle remained on the table and was not lifted.",
"avoidance": "Close the left gripper"
},
{
"sample": "grasp_bottle_place_bowl_episode_8",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_8.hdf5",
"verdict": "fail",
"onset": 3.44331,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the left gripper failed to maintain a secure grasp on the bottle during the alignment phase, causing it to drop.\nResult: he bottle was dropped and is not aligned with the pink bowl",
"avoidance": "Close the left gripper more tightly"
},
{
"sample": "grasp_bottle_place_bowl_episode_10",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_10.hdf5",
"verdict": "fail",
"onset": 2.012689,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: the left gripper approached the bottle grasp axis offset significantly upward\nResult: the gripper could not securely grasp the bottle",
"avoidance": "Move the left gripper to the downward significantly."
},
{
"sample": "grasp_bottle_place_bowl_episode_11",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_11.hdf5",
"verdict": "fail",
"onset": 3.480846,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle, offset significantly backward and slightly to the right.\nResult: The left gripper failed to align with and grasp the bottle.",
"avoidance": "Move the left gripper significantly forward and slightly left before grasping."
},
{
"sample": "grasp_bottle_place_bowl_episode_12",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_12.hdf5",
"verdict": "fail",
"onset": 4.058105,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The left gripper aligned and released the bottle into the purple bowl instead of the pink bowl.\nResult: The left gripper failed to place the bottle into the pink bowl.",
"avoidance": "Move the left arm to align with the pink bowl instead of the purple bowl."
},
{
"sample": "grasp_bottle_place_bowl_episode_13",
"task_id": "grasp_bottle_place_bowl",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/grasp_bottle_place_bowl/episode_13.hdf5",
"verdict": "fail",
"onset": 2.731052,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle with its orientation misaligned relative to the bottle.\nResult: The left gripper failed to grasp the bottle.",
"avoidance": "Rotate the left gripper counterclockwise."
},
{
"sample": "grasp_coke_can_put_tray_episode_0",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_coke_can_put_tray_episode_1",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_coke_can_put_tray_episode_2",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_coke_can_put_tray_episode_5",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_5.hdf5",
"verdict": "fail",
"onset": 4.862234,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the green tray.\nObservation: the right gripper placed the Coke can on the purple plate instead of the green tray\nResult: the coke can is misplaced",
"avoidance": "Move the right arm to align with the green tray instead of the purple plate."
},
{
"sample": "grasp_coke_can_put_tray_episode_6",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_6.hdf5",
"verdict": "fail",
"onset": 2.419788,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the Coke can.\nObservation: The right gripper incorrectly targeted and moved the red cube instead of the Coke can.\nResult: The right gripper failed to grasp the red cube.",
"avoidance": "The right gripper needs to grasp the Coke can."
},
{
"sample": "grasp_coke_can_put_tray_episode_14",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_14.hdf5",
"verdict": "fail",
"onset": 7.817705,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the green tray.\nObservation: The Coke can was dropped by the right gripper during the transferring phase.\nResult: The right gripper failed to place the Coke can in the tray.",
"avoidance": "Close the right gripper enough to maintain a secure grasp during transferring."
},
{
"sample": "grasp_coke_can_put_tray_episode_15",
"task_id": "grasp_coke_can_put_tray",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_coke_can_put_tray/episode_15.hdf5",
"verdict": "fail",
"onset": 4.191525,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the Coke can.\nObservation: The right gripper failed to close sufficiently to secure the Coke can.\nResult: The right gripper failed to grasp and move the Coke can.",
"avoidance": "Close the right gripper tightly to secure the Coke can."
},
{
"sample": "grasp_cube_place_shelf_episode_0",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_cube_place_shelf_episode_2",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_2.hdf5",
"verdict": "fail",
"onset": 2.138105,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube offset slightly forward, misaligning its grasp axis.\nResult: the gripper failed to securely grasp the tube",
"avoidance": "Move the right arm backward slightly before grasping."
},
{
"sample": "grasp_cube_place_shelf_episode_3",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_3.hdf5",
"verdict": "fail",
"onset": 2.197476,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube offset slightly backward\nResult: the gripper could not securely grasp the tube",
"avoidance": "Move the right gripper to the forward slightly."
},
{
"sample": "grasp_cube_place_shelf_episode_6",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_6.hdf5",
"verdict": "fail",
"onset": 2.504922,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the test tube.\nObservation: the right gripper failed to close sufficiently to secure the test tube\nResult: the right gripper failed to grasp the test tube",
"avoidance": "Close the right gripper sufficiently to secure the test tube."
},
{
"sample": "grasp_cube_place_shelf_episode_8",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_8.hdf5",
"verdict": "fail",
"onset": 3.037075,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the left arm was incorrectly used to manipulate the test tube, even though the task plan required the right arm \nResult: The task plan is violated",
"avoidance": "Move the right arm instead of the left to approach and align with the test tube."
},
{
"sample": "grasp_cube_place_shelf_episode_9",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_9.hdf5",
"verdict": "fail",
"onset": 3.275862,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube with its orientation misaligned relative to the test tube's grasp axis.\nResult: The right gripper missed the grasp with the test tube.",
"avoidance": "Rotate the right gripper counterclockwise."
},
{
"sample": "grasp_cube_place_shelf_episode_10",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_10.hdf5",
"verdict": "fail",
"onset": 4.26304,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube, offset slightly backward\nResult: the right gripper failed to align with and grasp the test tube",
"avoidance": "Move the right gripper slightly forward before grasping."
},
{
"sample": "grasp_cube_place_shelf_episode_13",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_13.hdf5",
"verdict": "fail",
"onset": 2.824841,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube, offset significantly to the right.\nResult: the right gripper failed to grasp the test tube.",
"avoidance": "Move the right gripper significantly to the left before grasping."
},
{
"sample": "grasp_cube_place_shelf_episode_14",
"task_id": "grasp_cube_place_shelf",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_cube_place_shelf/episode_14.hdf5",
"verdict": "fail",
"onset": 4.095577,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the test tube.\nObservation: the right gripper failed to close sufficiently to grasp the test tube\nResult: the right gripper failed to grasp the test tube",
"avoidance": "Close the right gripper sufficiently to secure the test tube."
},
{
"sample": "grasp_duck_put_cup_episode_0",
"task_id": "grasp_duck_put_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_duck_put_cup_episode_1",
"task_id": "grasp_duck_put_cup",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_duck_put_cup_episode_2",
"task_id": "grasp_duck_put_cup",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_duck_put_cup_episode_3",
"task_id": "grasp_duck_put_cup",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_3.hdf5",
"verdict": "fail",
"onset": 4.4936615,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the cup.\nObservation: The right arm placed the duck on the plate instead of the cup.\nResult: The right arm failed to move the duck to the cup.",
"avoidance": "Move the right arm to align with the cup instead of the plate."
},
{
"sample": "grasp_duck_put_cup_episode_5",
"task_id": "grasp_duck_put_cup",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_5.hdf5",
"verdict": "fail",
"onset": 2.078104,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the yellow duck.\nObservation: The right gripper approached and grasped the computer mouse instead of the yellow duck.\nResult: The right gripper failed to grasp the yellow duck.",
"avoidance": "The right gripper needs to grasp the yellow duck."
},
{
"sample": "grasp_duck_put_cup_episode_6",
"task_id": "grasp_duck_put_cup",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_6.hdf5",
"verdict": "fail",
"onset": 2.655172,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the cup.\nObservation: the right gripper placed the duck on the plate instead of the cup\nResult: the duck was mispalced",
"avoidance": "Move the right arm to align with the cup instead of the purple plate."
},
{
"sample": "grasp_duck_put_cup_episode_13",
"task_id": "grasp_duck_put_cup",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_13.hdf5",
"verdict": "fail",
"onset": 4.189459,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the yellow duck.\nObservation: The right gripper failed to close sufficiently to grasp the duck.\nResult: The right gripper failed to grasp and move the duck to the cup.",
"avoidance": "Close the right gripper sufficiently to secure the duck when grasping."
},
{
"sample": "grasp_duck_put_cup_episode_15",
"task_id": "grasp_duck_put_cup",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_duck_put_cup/episode_15.hdf5",
"verdict": "fail",
"onset": 5.417697,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the cup.\nObservation: The right gripper failed to maintain a secure grasp on the orange object during the moving phase, dropping the duck before aligning with the cup\nResult: The gripper failed to place the orange duck on the cup.",
"avoidance": "Close the gripper more tightly during alignment."
},
{
"sample": "grasp_filter_place_juicer_episode_0",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_filter_place_juicer_episode_1",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_1.hdf5",
"verdict": "fail",
"onset": 3.363052,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter.\nResult: the left gripper failed to grasp the filter.",
"avoidance": "Rotate the left gripper counterclockwise."
},
{
"sample": "grasp_filter_place_juicer_episode_4",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_4.hdf5",
"verdict": "fail",
"onset": 3.391227,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter,\nResult: the gripper failed to secure the object, leading to task abortion.",
"avoidance": "Rotate the left gripper."
},
{
"sample": "grasp_filter_place_juicer_episode_5",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_5.hdf5",
"verdict": "fail",
"onset": 2.604226,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align the filter.\nObservation: The left gripper did not open to grasp the filter.\nResult: The left gripper failed to grasp the filter.",
"avoidance": "Open the left gripper to grasp the filter."
},
{
"sample": "grasp_filter_place_juicer_episode_6",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_6.hdf5",
"verdict": "fail",
"onset": 4.535368,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the juicer.\nObservation: the left gripper failed to maintain a secure grasp on the filter during the alignment phase, causing the filter to drop midway.\nResult: the left arm failed to move the filter to the juicer.",
"avoidance": "Close the left gripper tightly while moving"
},
{
"sample": "grasp_filter_place_juicer_episode_11",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_11.hdf5",
"verdict": "fail",
"onset": 2.838504,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the filter.\nObservation: The left gripper did not close to grasp the filter after aligning.\nResult: The left gripper failed to grasp the filter.",
"avoidance": "The left gripper should be closed."
},
{
"sample": "grasp_filter_place_juicer_episode_13",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_13.hdf5",
"verdict": "fail",
"onset": 2.818947,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter\nResult: the left gripper failed to grasp the filter",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "grasp_filter_place_juicer_episode_18",
"task_id": "grasp_filter_place_juicer",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/grasp_filter_place_juicer/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_drawer_episode_0",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_drawer_episode_1",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_drawer_episode_2",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_drawer_episode_3",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 2.572137,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the knife holder.\nObservation: The left arm erroneously initiated the approach to the knife holder, instead of the designated right arm.\nResult: The right arm failed to grasp the knife holder",
"avoidance": "Move the right arm instead of the left to approach and align with the knife holder."
},
{
"sample": "grasp_knife_place_drawer_episode_5",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 2.393526,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the knife.\nObservation: the right gripper incorrectly targeted and grasped the black eraser instead of the green knife\nResult: the right gripper failed to grasp the knife",
"avoidance": "Move the right arm to approach and align with the knife instead of the black eraser."
},
{
"sample": "grasp_knife_place_drawer_episode_13",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_13.hdf5",
"verdict": "fail",
"onset": 3.947263,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the knife from the holder.\nObservation: The right gripper failed to close sufficiently to grasp the knife.\nResult: The right gripper failed to grasp and move the knife to the drawer.",
"avoidance": "Close the right gripper tightly to secure the knife."
},
{
"sample": "grasp_knife_place_drawer_episode_14",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 2.579,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the drawer.\nObservation: The right gripper accidentally opened (released its grip) after grasping the knife and while moving toward the drawer.\nResult: The right gripper failed to move the knife to the drawer.",
"avoidance": "Close the right gripper tightly to secure the knife when moving."
},
{
"sample": "grasp_knife_place_drawer_episode_15",
"task_id": "grasp_knife_place_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 5.32,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the knife in the drawer.\nObservation: the right gripper failed to open to release the knife during the placement subtask\nResult: the knife remained clamped and could not be deposited into the drawer.",
"avoidance": "Open the right gripper to place the knife drawer in the release phase"
},
{
"sample": "grasp_knife_place_plate_episode_0",
"task_id": "grasp_knife_place_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_plate_episode_1",
"task_id": "grasp_knife_place_plate",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_plate_episode_2",
"task_id": "grasp_knife_place_plate",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_knife_place_plate_episode_3",
"task_id": "grasp_knife_place_plate",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_3.hdf5",
"verdict": "fail",
"onset": 2.410892,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: The left gripper incorrectly targeted the marker instead of the knife.\nResult: The left gripper incorrectly grasped the marker and placed it onto the plate.",
"avoidance": "The left gripper needs to grasp the knife."
},
{
"sample": "grasp_knife_place_plate_episode_6",
"task_id": "grasp_knife_place_plate",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_6.hdf5",
"verdict": "fail",
"onset": 3.609736,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: the right gripper moved instead of the planned left gripper and grasped the marker instead of the knife\nResult: the left gripper failed to grasp the knife",
"avoidance": "Move the left arm instead of the right arm to approach and align with the knife holder."
},
{
"sample": "grasp_knife_place_plate_episode_12",
"task_id": "grasp_knife_place_plate",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_12.hdf5",
"verdict": "fail",
"onset": 3.12,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: the left gripper approached the knife offset slightly to the left with its orientation misaligned relative to the knife\nResult: The knife was not secured during the grasp phase",
"avoidance": "Move the left gripper to the right slightly, and rotate the left gripper\\"
},
{
"sample": "grasp_knife_place_plate_episode_14",
"task_id": "grasp_knife_place_plate",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_14.hdf5",
"verdict": "fail",
"onset": 2.72971,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper failed to close sufficient when grasping the knife, causing it to drop during alignment with the plate\nResult: The knife was incorrectly dropped onto the table",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "grasp_knife_place_plate_episode_15",
"task_id": "grasp_knife_place_plate",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_knife_place_plate/episode_15.hdf5",
"verdict": "fail",
"onset": 4.56821,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the knife on the plate.\nObservation: the left gripper failed to open fully during the release phase\nResult: the left gripper failed to place the knife on the green plate",
"avoidance": "Open the left gripper during release."
},
{
"sample": "grasp_marker_place_in_cup_episode_0",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_marker_place_in_cup_episode_3",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_3.hdf5",
"verdict": "fail",
"onset": 2.205755,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker offset slightly forward, failing to align its grasp axis with the marker’s longitudinal axis\nResult: The gripper could not grasp the marker.",
"avoidance": "The marker should perform this action offset slightly backward."
},
{
"sample": "grasp_marker_place_in_cup_episode_7",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_7.hdf5",
"verdict": "fail",
"onset": 2.406068,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker.\nObservation: the right gripper failed to close sufficiently to grasp the marker\nResult: the marker remained on the table and was not lifted.",
"avoidance": "Close the right gripper sufficiently"
},
{
"sample": "grasp_marker_place_in_cup_episode_8",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_8.hdf5",
"verdict": "fail",
"onset": 2.558368,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the purple cup.\nObservation: the right gripper unexpectedly opened immediately after grasping the marker, causing the marker to slip from its grasp and fall.\nResult: the right gripper faield to move the marker to the purple cup",
"avoidance": "Close the right gripper tightly to grasp the marker."
},
{
"sample": "grasp_marker_place_in_cup_episode_9",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_9.hdf5",
"verdict": "fail",
"onset": 2.379034,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm was incorrectly used to manipulate the marker, even though the task plan required the right arm.\nResult: The task plan is violated.",
"avoidance": "Move the right arm instead of the left to approach and align the marker."
},
{
"sample": "grasp_marker_place_in_cup_episode_10",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_10.hdf5",
"verdict": "fail",
"onset": 2.465175,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: he right gripper approached the marker offset significantly to the right with its orientation misaligned with the marker.\nResult: the right gripper failed to grasp the marker.",
"avoidance": "Move the right gripper to the left significantly, and rotate the right gripper clockwise to the marker."
},
{
"sample": "grasp_marker_place_in_cup_episode_12",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_12.hdf5",
"verdict": "fail",
"onset": 2.485241,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker with its orientation misaligned relative to the marker, causing a misalignment during grasp\nResult: the gripper failed to securely pick up the marker, preventing placement in the cup.",
"avoidance": "Rotate the right gripper"
},
{
"sample": "grasp_marker_place_in_cup_episode_17",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_17.hdf5",
"verdict": "fail",
"onset": 3.578902,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to align with the purple cup.\nObservation: The right gripper approached the cup offset slightly to the left during the approach, causing the marker to be dropped beside it instead of inserted.\nResult: The right gripper failed to place the marker in the purple cup.",
"avoidance": "Move the right gripper to the right slightly."
},
{
"sample": "grasp_marker_place_in_cup_episode_18",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_18.hdf5",
"verdict": "fail",
"onset": 1.165052,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the cup, offset significantly to the right and upward, causing it to strike and knock over the cup during alignment.\nResult: The gripper failed to grasp the marker.",
"avoidance": "Move the right gripper significantly to the left and downward."
},
{
"sample": "grasp_marker_place_in_cup_episode_19",
"task_id": "grasp_marker_place_in_cup",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/grasp_marker_place_in_cup/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "grasp_spatula_place_basket_episode_0",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_spatula_place_basket_episode_1",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_spatula_place_basket_episode_2",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_spatula_place_basket_episode_3",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_3.hdf5",
"verdict": "fail",
"onset": 2.697642,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the right gripper, not the planned left, was commanded to grasp the spatula.\nResult:the left gripper failed to approach and grasp the spatula.",
"avoidance": "Move the left arm instead of the right arm to approach and align the wooden spatula."
},
{
"sample": "grasp_spatula_place_basket_episode_4",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_4.hdf5",
"verdict": "fail",
"onset": 2.060992,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: The left gripper incorrectly targeted and picked up the red marker instead of the wooden spatula during the alignment phase.\nResult: The left gripper did not grasp the wooden spatula.",
"avoidance": "The left gripper should align with the wooden spatula."
},
{
"sample": "grasp_spatula_place_basket_episode_6",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_6.hdf5",
"verdict": "fail",
"onset": 2.57142,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the right gripper, not the left, was commanded to grasp the spatula, violating the task plan\nResult: he wrong arm executed the grasp, leading to incorrect object handling.",
"avoidance": "Move the left arm instead of the right to approach and align the wooden spatula."
},
{
"sample": "grasp_spatula_place_basket_episode_9",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_9.hdf5",
"verdict": "fail",
"onset": 2.493473,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: The left gripper approached the spatula with its orientation misaligned relative to the spatula.\nResult: The left gripper failed to grasp the spatula.",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "grasp_spatula_place_basket_episode_12",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_12.hdf5",
"verdict": "fail",
"onset": 2.322939,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the left gripper approached the spatula with its orientation misaligned relative to the spatula\nResult: the left gripper failed to grasp the wooden spatula",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "grasp_spatula_place_basket_episode_15",
"task_id": "grasp_spatula_place_basket",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_place_basket/episode_15.hdf5",
"verdict": "fail",
"onset": 5.292789,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the wooden spatula into the blue basket.\nObservation: The left gripper stops and holds the wooden spatula above the blue basket without releasing it.\nResult: The left gripper failed to open to release the wooden spatula into the blue basket.",
"avoidance": "Open the left gripper to release the wooden spatula."
},
{
"sample": "grasp_spatula_put_pot_episode_0",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_spatula_put_pot_episode_1",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_1.hdf5",
"verdict": "fail",
"onset": 2.031155,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset slightly to the left.\nResult: The right gripper failed to align with and grasp the spatula.",
"avoidance": "Move the right gripper slightly to the right before grasping."
},
{
"sample": "grasp_spatula_put_pot_episode_2",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_2.hdf5",
"verdict": "fail",
"onset": 1.8404475,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: the right gripper approached the spatula offset slightly to the right, failing to align its grasp pose with the spatula’s handle axis.\nResult: the gripper collided with the spatula and could not grasp it",
"avoidance": "Move the right gripper to the left slightly."
},
{
"sample": "grasp_spatula_put_pot_episode_3",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 3.004105,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the wooden spatula.\nObservation: the right gripper failed to close sufficiently to grasp the wooden spatula\nResult: the right gripper failed to grasp the wooden spatula",
"avoidance": "Close the right gripper sufficiently to grasp the wooden spatula."
},
{
"sample": "grasp_spatula_put_pot_episode_5",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 2.842587,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: the right gripper approached the spatula with its orientation misaligned relative to the spatula, causing a misalignment during grasp.\nResult: the spatula was not secured and slipped.",
"avoidance": "Rotate the right gripper"
},
{
"sample": "grasp_spatula_put_pot_episode_7",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_7.hdf5",
"verdict": "fail",
"onset": 1.852631,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset significantly backward.\nResult: The right gripper failed to grasp the spatula.",
"avoidance": "Move the right gripper significantly forward."
},
{
"sample": "grasp_spatula_put_pot_episode_9",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_9.hdf5",
"verdict": "fail",
"onset": 2.693893,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the wooden spatula while its orientation was misaligned relative to the spatula.\nResult: The right gripper failed to grasp the spatula.",
"avoidance": "Rotate the right gripper clockwise to align with the spatula."
},
{
"sample": "grasp_spatula_put_pot_episode_11",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_11.hdf5",
"verdict": "fail",
"onset": 1.953631,
"type": [
"orientation_error",
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset significantly backward, with its orientation misaligned relative to the spatula’s handle.\nResult: The right gripper failed to grasp the wooden spatula.",
"avoidance": "Move the right gripper significantly forward, and rotate the right gripper clockwise."
},
{
"sample": "grasp_spatula_put_pot_episode_12",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_12.hdf5",
"verdict": "fail",
"onset": 3.316315,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper is offset significantly to the left and backward relative to the spatula, failing to align its jaws parallel to the spatula’s handle.\nResult: The right arm failed to grasp the wooden spatula.",
"avoidance": "Move the right gripper to the right and forward significantly."
},
{
"sample": "grasp_spatula_put_pot_episode_14",
"task_id": "grasp_spatula_put_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_spatula_put_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 3.77821,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the wooden spatula.\nObservation: The right gripper failed to close sufficiently to grasp the wooden spatula.\nResult: The right gripper failed to grasp the wooden spatula.",
"avoidance": "Close the right gripper sufficiently to grasp the wooden spatula."
},
{
"sample": "grasp_test_tube_place_bowl_episode_0",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "grasp_test_tube_place_bowl_episode_1",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "grasp_test_tube_place_bowl_episode_2",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "grasp_test_tube_place_bowl_episode_3",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_3.hdf5",
"verdict": "fail",
"onset": 1.939641,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper incorrectly targeted the pen instead of the test tube during the approach phase.\nResult: the gripper fails to grasp the test tube",
"avoidance": "Move the right arm to approach and align with the test tube instead of the pen."
},
{
"sample": "grasp_test_tube_place_bowl_episode_4",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_4.hdf5",
"verdict": "fail",
"onset": 2.558848,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper was supposed to grasp the socket, but instead, the left gripper was extended.\nResult: The left gripper moved into the workspace incorrectly.",
"avoidance": "Move the right arm instead to approach and align with the test tube."
},
{
"sample": "grasp_test_tube_place_bowl_episode_5",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_5.hdf5",
"verdict": "fail",
"onset": 2.657368,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left gripper, instead of the planned right gripper, grasped the test tube, while the right gripper remained still.\nResult: The right gripper failed to grasp the test tube.",
"avoidance": "Move the right arm to approach and align with the test tube."
},
{
"sample": "grasp_test_tube_place_bowl_episode_6",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_6.hdf5",
"verdict": "fail",
"onset": 5.877894,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right arm incorrectly placed the test tube into the purple cup instead of the blue bowl.\nResult: The right arm placed the test tube into the purple cup.",
"avoidance": "The right arm places the test tube into the blue bowl."
},
{
"sample": "grasp_test_tube_place_bowl_episode_12",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_12.hdf5",
"verdict": "fail",
"onset": 5.135388,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube, offset significantly to the right, with its orientation anticlockwise to the test tube.\nResult: The right gripper failed to align with the test tube.",
"avoidance": "Move the right gripper left and rotate clockwise to the test tube."
},
{
"sample": "grasp_test_tube_place_bowl_episode_14",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_14.hdf5",
"verdict": "fail",
"onset": 3.815842,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper did not open during the 'Grasp the test tube' subtask.\nResult: The right gripper failed to grasp the test tube.",
"avoidance": "Open the right gripper to grasp"
},
{
"sample": "grasp_test_tube_place_bowl_episode_15",
"task_id": "grasp_test_tube_place_bowl",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/grasp_test_tube_place_bowl/episode_15.hdf5",
"verdict": "fail",
"onset": 8.279999,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the test tube into the blue bowl.\nObservation: e the right gripper failed to open fully during the release phase\nResult: the test tube remained clamped and was not placed into the bowl",
"avoidance": "Open the right gripper to release the test tube"
},
{
"sample": "hold_socket_plug_episode_0",
"task_id": "hold_socket_plug",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "hold_socket_plug_episode_1",
"task_id": "hold_socket_plug",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "hold_socket_plug_episode_2",
"task_id": "hold_socket_plug",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "hold_socket_plug_episode_3",
"task_id": "hold_socket_plug",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_3.hdf5",
"verdict": "fail",
"onset": 2.162186,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper was not positioned to hold the socket before the left arm attempted insertion.\nResult: The socket was not grasped by the right arm.",
"avoidance": "Move the right arm to approach and align with the socket."
},
{
"sample": "hold_socket_plug_episode_4",
"task_id": "hold_socket_plug",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_4.hdf5",
"verdict": "fail",
"onset": 3.348684,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the plug.\nObservation: The right arm incorrectly grasped the power strip instead of holding it steady for the left arm's insertion.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the plug.",
"avoidance": "The right arm holds the socket in place, and then the left arm moves to grasp the plug."
},
{
"sample": "hold_socket_plug_episode_5",
"task_id": "hold_socket_plug",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_5.hdf5",
"verdict": "fail",
"onset": 5.686578,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the plug.\nObservation: The left arm incorrectly targeted the mouse instead of the plug.\nResult: The left arm failed to grasp the plug.",
"avoidance": "Move the left arm to approach and align with the plug instead of the mouse."
},
{
"sample": "hold_socket_plug_episode_6",
"task_id": "hold_socket_plug",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_6.hdf5",
"verdict": "fail",
"onset": 3.27062,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: the left gripper approached and aligned with the socket instead of the designated right gripper\nResult: The task sequence plan is violated",
"avoidance": "Move the right arm instead of the left arm to grab and stabilize the socket, and use the left arm to approach the plug."
},
{
"sample": "hold_socket_plug_episode_13",
"task_id": "hold_socket_plug",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_13.hdf5",
"verdict": "fail",
"onset": 2.892631,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper did not open during the grasping phase.\nResult: The right gripper failed to grasp and held the socket.",
"avoidance": "Open the right gripper to grasp"
},
{
"sample": "hold_socket_plug_episode_14",
"task_id": "hold_socket_plug",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_14.hdf5",
"verdict": "fail",
"onset": 6.96342,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the plug with the left arm.\nObservation: the left gripper failed to close sufficiently to grasp the plug\nResult: the plug remained on the table, preventing insertion.",
"avoidance": "Close the left gripper sufficiently"
},
{
"sample": "hold_socket_plug_episode_15",
"task_id": "hold_socket_plug",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/hold_socket_plug/episode_15.hdf5",
"verdict": "fail",
"onset": 5.530465,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align the plug with the socket.\nObservation: The left gripper failed to close with sufficient force to grasp the plug.\nResult: The left arm failed to align the plug with the socket.",
"avoidance": "Close the left gripper with sufficient force to maintain the grasp."
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_1",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_3",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_4",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_5",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_7",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_8",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_9",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_10",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_11",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_13",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_14",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_15",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_16",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_17",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_19",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_20",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_21",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_22",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_23",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_place_cube_ep1_episode_24",
"task_id": "lift_lid_and_place_cube_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_put_green_duck_episode_0",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_and_put_green_duck_episode_1",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_1.hdf5",
"verdict": "fail",
"onset": 10.719468,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: the left gripper incorrectly targeted and grasped the green cube instead of the green duck.\nResult: the left gripper failed to grasp the green duck.",
"avoidance": "The left gripper needs to grasp the green duck."
},
{
"sample": "lift_lid_and_put_green_duck_episode_4",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_4.hdf5",
"verdict": "fail",
"onset": 4.201368,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The right gripper approached the pot lid, offset slightly to the left.\nResult: The right gripper failed to grasp the pot lid.",
"avoidance": "Move the right gripper to the right slightly to align with the lid."
},
{
"sample": "lift_lid_and_put_green_duck_episode_8",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_8.hdf5",
"verdict": "fail",
"onset": 5.78262,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the pot lid with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the pot lid\nResult: the lid was not lifted,",
"avoidance": "Close the right gripper more tightly"
},
{
"sample": "lift_lid_and_put_green_duck_episode_9",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_9.hdf5",
"verdict": "fail",
"onset": 12.387199,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green duck with the left arm.\nObservation: the left gripper failed to close sufficiently to grasp the green duck \nResult: the duck was not picked up or aligned with the pot",
"avoidance": "Close the left gripper"
},
{
"sample": "lift_lid_and_put_green_duck_episode_12",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_12.hdf5",
"verdict": "fail",
"onset": 10.508488,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper approached the green duck, offset slightly backward.\nResult: The left gripper failed to grasp the green duck.",
"avoidance": "Move the left gripper slightly forward."
},
{
"sample": "lift_lid_and_put_green_duck_episode_13",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_13.hdf5",
"verdict": "fail",
"onset": 9.030785,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: the left gripper approached the green duck offset slightly forward and significantly upward, misaligning its grasp. \nResult: the left gripper failed to grasp the green duck.",
"avoidance": "Move the left gripper slightly backward and significantly downward during alignment."
},
{
"sample": "lift_lid_and_put_green_duck_episode_16",
"task_id": "lift_lid_and_put_green_duck",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/lift_lid_and_put_green_duck/episode_16.hdf5",
"verdict": "fail",
"onset": 9.066315,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper approached the green duck, offset significantly to the left and upward.\nResult: The left gripper failed to grasp the green duck.",
"avoidance": "Move the left gripper to the right and downward significantly."
},
{
"sample": "lift_lid_place_duck_episode_0",
"task_id": "lift_lid_place_duck",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_place_duck_episode_1",
"task_id": "lift_lid_place_duck",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_place_duck_episode_2",
"task_id": "lift_lid_place_duck",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_place_duck_episode_3",
"task_id": "lift_lid_place_duck",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_3.hdf5",
"verdict": "fail",
"onset": 1.689473,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The left gripper prematurely grasped and placed the green duck into the pot before the right gripper lifted the lid.\nResult: The duck was placed above the lid, obstructing the intended sequence.",
"avoidance": "The right gripper needs to lift the pot lid first, and then the left gripper grasps and puts the green duck into the pot."
},
{
"sample": "lift_lid_place_duck_episode_5",
"task_id": "lift_lid_place_duck",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_5.hdf5",
"verdict": "fail",
"onset": 1.969684,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The left gripper mistakenly attempted to lift the lid, while it was planned by the right arm.\nResult: The right arm failed to approach and move the pot lid.",
"avoidance": "Move the right arm instead of the left arm to approach and align with the pot lid."
},
{
"sample": "lift_lid_place_duck_episode_6",
"task_id": "lift_lid_place_duck",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_6.hdf5",
"verdict": "fail",
"onset": 6.072105,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper incorrectly selected and moved the blue stapler instead of the green duck.\nResult: The left gripper failed to grasp and move the green duck to the pot.",
"avoidance": "Move the left arm to approach and align with the green duck instead of the stapler."
},
{
"sample": "lift_lid_place_duck_episode_9",
"task_id": "lift_lid_place_duck",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_9.hdf5",
"verdict": "fail",
"onset": 3.743593,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper approached the pot lid with its orientation misaligned relative to the pot lid, causing it to collide with the lid handle.\nResult: the gripper failed to grasp the pot lid with the right arm.",
"avoidance": "Rotate the right gripper counterclockwise before colliding with the lid handle."
},
{
"sample": "lift_lid_place_duck_episode_10",
"task_id": "lift_lid_place_duck",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_10.hdf5",
"verdict": "fail",
"onset": 2.313809,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper approached the pot lid with its orientation misaligned relative to the pot lid handle.\nResult: the right gripper failed to grasp the lid of the pot.",
"avoidance": "Rotate the right gripper clockwise to the pot lid before grasping."
},
{
"sample": "lift_lid_place_duck_episode_13",
"task_id": "lift_lid_place_duck",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_duck/episode_13.hdf5",
"verdict": "fail",
"onset": 1.454645,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper failed to open fully, preventing it from properly grasping the pot lid during the approach phase\nResult: the right gripper was unable to grasp the pot lid",
"avoidance": "Open the right gripper while moving it close to the pot lid."
},
{
"sample": "lift_lid_place_pot_episode_0",
"task_id": "lift_lid_place_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "lift_lid_place_pot_episode_2",
"task_id": "lift_lid_place_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_2.hdf5",
"verdict": "fail",
"onset": 1.539473,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset slightly to the right, causing it to miss the handle during grasp.\nResult: The left gripper failed to grasp the handle of the pot lid.",
"avoidance": "Move the left gripper slightly to the left."
},
{
"sample": "lift_lid_place_pot_episode_3",
"task_id": "lift_lid_place_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 1.997241,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: the left gripper approached the lid offset significantly forward, misaligning its grasp point relative to the handle. \nResult: the gripper failed to securely engage the handle during the grasp",
"avoidance": "Move the left gripper to the backward significantly."
},
{
"sample": "lift_lid_place_pot_episode_5",
"task_id": "lift_lid_place_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 1.89221,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset slightly upward, misaligning its grasp point relative to the handle.\nResult: The left gripper failed to grasp the lid handle.",
"avoidance": "Move the left gripper slightly downward."
},
{
"sample": "lift_lid_place_pot_episode_6",
"task_id": "lift_lid_place_pot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_6.hdf5",
"verdict": "fail",
"onset": 2.466947,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid handle with its orientation misaligned relative to the lid handle.\nResult: The left gripper failed to grasp the lid handle.",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "lift_lid_place_pot_episode_7",
"task_id": "lift_lid_place_pot",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_7.hdf5",
"verdict": "fail",
"onset": 2.576842,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the lid of the pot.\nObservation: The left gripper failed to close sufficiently to grasp the lid handle.\nResult: The left gripper failed to grasp the pot lid handle.",
"avoidance": "Close the left gripper sufficiently to grasp the pot lid handle."
},
{
"sample": "lift_lid_place_pot_episode_9",
"task_id": "lift_lid_place_pot",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_9.hdf5",
"verdict": "fail",
"onset": 1.870503,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid handle with a offset rotationally and offset slightly upward.\nResult: The gripper failed to secure the lid.",
"avoidance": "The gripper should rotate by 90 degrees around the grasp axis and move slightly downward."
},
{
"sample": "lift_lid_place_pot_episode_11",
"task_id": "lift_lid_place_pot",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/lift_lid_place_pot/episode_11.hdf5",
"verdict": "fail",
"onset": 2.147578,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset significantly to the right, causing it to miss the handle during grasp.\nResult: The left gripper failed to grasp the lid handle.",
"avoidance": "Move the left gripper significantly to the left."
},
{
"sample": "open_box_place_cable_episode_0",
"task_id": "open_box_place_cable",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_box_place_cable_episode_1",
"task_id": "open_box_place_cable",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_1.hdf5",
"verdict": "fail",
"onset": 1.615894,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The right gripper was positioned significantly upward during approach, causing it to miss the box’s edge and fail to open it.\nResult: The right gripper failed to grasp the edge of the box.",
"avoidance": "Move the right gripper significantly downward."
},
{
"sample": "open_box_place_cable_episode_2",
"task_id": "open_box_place_cable",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_2.hdf5",
"verdict": "fail",
"onset": 2.024244,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The right gripper approached the paper box, offset slightly backward and with incorrect rotation around the gripper axis.\nResult: The gripper fails to grasp the paper box lid.",
"avoidance": "Rotate the gripper around the axis to align with the paper box lid."
},
{
"sample": "open_box_place_cable_episode_5",
"task_id": "open_box_place_cable",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_5.hdf5",
"verdict": "fail",
"onset": 5.28,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: the left gripper approached offset slightly to the right during approach\nResult: the left gripper failed to grasp the cable",
"avoidance": "Move the left gripper slightly to the left."
},
{
"sample": "open_box_place_cable_episode_7",
"task_id": "open_box_place_cable",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_7.hdf5",
"verdict": "fail",
"onset": 1.539993,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The left arm incorrectly attempted to open the paper box, a task that was specifically assigned to the right arm.\nResult: The right gripper failed to approach and align the paper box.",
"avoidance": "Move the right arm instead of the left arm to approach and align the paper box."
},
{
"sample": "open_box_place_cable_episode_8",
"task_id": "open_box_place_cable",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_8.hdf5",
"verdict": "fail",
"onset": 7.48491,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the data cable with the left arm.\nObservation: The left gripper failed to close sufficiently and grasp the data cable during the grasping subtask.\nResult: The cable remained on the table and was not placed in the box.",
"avoidance": "Close the left gripper more tightly"
},
{
"sample": "open_box_place_cable_episode_9",
"task_id": "open_box_place_cable",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_9.hdf5",
"verdict": "fail",
"onset": 6.682151,
"type": [
"closing_error",
"open_error"
],
"reason": "Expected: Move the left arm to align with the open paper box.\nObservation: the left gripper failed to close and grasp the data cable during alignment with the open box.\nResult: the cable remained unsecured and could not be placed in the box.",
"avoidance": "Close the left gripper more tightly"
},
{
"sample": "open_box_place_cable_episode_10",
"task_id": "open_box_place_cable",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_10.hdf5",
"verdict": "fail",
"onset": 6.214736,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: The left gripper approached the data cable with its orientation misaligned relative to the data cable.\nResult: the cable was not secured, preventing placement into the box.",
"avoidance": "Rotate the left gripper counterclockwise."
},
{
"sample": "open_box_place_cable_episode_13",
"task_id": "open_box_place_cable",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_box_place_cable/episode_13.hdf5",
"verdict": "fail",
"onset": 5.787763,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: The left gripper approached the cable, offset slightly to the left and backward, during cable approach.\nResult: The left gripper failed to grasp the cable.",
"avoidance": "Move the left gripper slightly to the right and forward."
},
{
"sample": "open_box_place_marker_episode_0",
"task_id": "open_box_place_marker",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_box_place_marker_episode_1",
"task_id": "open_box_place_marker",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_box_place_marker_episode_2",
"task_id": "open_box_place_marker",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_box_place_marker_episode_4",
"task_id": "open_box_place_marker",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_4.hdf5",
"verdict": "fail",
"onset": 8.071889,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The left gripper, not the right, picked up the marker after opening the paper box.\nResult: The right gripper failed to approach and grasp the marker.",
"avoidance": "Move the right arm instead of the left to approach and align with the marker."
},
{
"sample": "open_box_place_marker_episode_6",
"task_id": "open_box_place_marker",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_6.hdf5",
"verdict": "fail",
"onset": 7.521605,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper incorrectly approached and picked up the spoon instead of the marker.\nResult: The right gripper picked up the wrong target instead of the marker.",
"avoidance": "Move the right arm to approach and align with the marker instead of the spoon."
},
{
"sample": "open_box_place_marker_episode_10",
"task_id": "open_box_place_marker",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_10.hdf5",
"verdict": "fail",
"onset": 8.323676,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper approached the marker with its orientation misaligned relative to the marker.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Rotate the right gripper clockwise."
},
{
"sample": "open_box_place_marker_episode_12",
"task_id": "open_box_place_marker",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_12.hdf5",
"verdict": "fail",
"onset": 8.077417,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper approached the marker, offset significantly forward with its orientation misaligned relative to the marker.\nResult: The right gripper failed to align with and grasp the marker.",
"avoidance": "Move the right gripper significantly backward and rotate it counterclockwise before grasping."
},
{
"sample": "open_box_place_marker_episode_14",
"task_id": "open_box_place_marker",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/open_box_place_marker/episode_14.hdf5",
"verdict": "fail",
"onset": 9.859184,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper did not open sufficiently to grasp the marker.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Open the right gripper while approaching the marker."
},
{
"sample": "open_drawer_put_marker_episode_0",
"task_id": "open_drawer_put_marker",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_marker_episode_1",
"task_id": "open_drawer_put_marker",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_marker_episode_2",
"task_id": "open_drawer_put_marker",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_marker_episode_4",
"task_id": "open_drawer_put_marker",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_4.hdf5",
"verdict": "fail",
"onset": 4.946104,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right arm placed the marker on the plate instead of aligning with the open drawer\nResult: the right arm failed to move and place the marker in the open drawer",
"avoidance": "Move the right arm to align with the open drawer instead of the plate."
},
{
"sample": "open_drawer_put_marker_episode_5",
"task_id": "open_drawer_put_marker",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_5.hdf5",
"verdict": "fail",
"onset": 2.813052,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right arm incorrectly targeted and manipulated the blue cube instead of the marker.\nResult: The right arm failed to grasp the red marker.",
"avoidance": "The right arm needs to grasp the red marker."
},
{
"sample": "open_drawer_put_marker_episode_11",
"task_id": "open_drawer_put_marker",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_11.hdf5",
"verdict": "fail",
"onset": 5.647282,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to align with the open drawer.\nObservation: The right gripper was positioned slightly backward during insertion, causing a misalignment with the open drawer.\nResult: The gripper released the pen outside the drawer onto the table.",
"avoidance": "Move the right gripper slightly forward."
},
{
"sample": "open_drawer_put_marker_episode_13",
"task_id": "open_drawer_put_marker",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_13.hdf5",
"verdict": "fail",
"onset": 4.072421,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the marker.\nResult: The right gripper failed to grasp and move the marker.",
"avoidance": "Close the right gripper sufficiently when grasping."
},
{
"sample": "open_drawer_put_marker_episode_15",
"task_id": "open_drawer_put_marker",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_marker/episode_15.hdf5",
"verdict": "fail",
"onset": 5.112589,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the marker.\nResult: The right gripper failed to grasp and move the marker.",
"avoidance": "Close the right gripper sufficiently to secure the marker."
},
{
"sample": "open_drawer_put_stapler_episode_0",
"task_id": "open_drawer_put_stapler",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_stapler_episode_1",
"task_id": "open_drawer_put_stapler",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_stapler_episode_2",
"task_id": "open_drawer_put_stapler",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_drawer_put_stapler_episode_3",
"task_id": "open_drawer_put_stapler",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_3.hdf5",
"verdict": "fail",
"onset": 3.299995,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the drawer handle.\nObservation: The left arm erroneously initiated the approach to the drawer handle, instead of the designated right arm.\nResult: The wrong arm was mobilized, leading to an aborted approach and a complete breakdown of the planned sequence.",
"avoidance": "Use the right arm to open the drawer."
},
{
"sample": "open_drawer_put_stapler_episode_4",
"task_id": "open_drawer_put_stapler",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_4.hdf5",
"verdict": "fail",
"onset": 8.38925,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to align with the stapler.\nObservation: the left gripper grasped the red cube.\nResult: the stapler was not grasped by the left gripper.",
"avoidance": "The left gripper should locate and move to align with the stapler."
},
{
"sample": "open_drawer_put_stapler_episode_6",
"task_id": "open_drawer_put_stapler",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_6.hdf5",
"verdict": "fail",
"onset": 3.919994,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the drawer handle.\nObservation: the left arm erroneously initiated the approach to the drawer handle, instead of the designated right arm.\nResult: the wrong arm was mobilized",
"avoidance": "using the right arm instead of the left arm"
},
{
"sample": "open_drawer_put_stapler_episode_12",
"task_id": "open_drawer_put_stapler",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_12.hdf5",
"verdict": "fail",
"onset": 11.366299,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to align with the stapler.\nObservation: the left gripper approached the stapler slightly upward and with its orientation misaligned relative to the stapler.\nResult: the left gripper failed to pick up the stapler.",
"avoidance": "Rotate the left gripper counterclockwise by 90 degrees, and move it slightly downward."
},
{
"sample": "open_drawer_put_stapler_episode_13",
"task_id": "open_drawer_put_stapler",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_13.hdf5",
"verdict": "fail",
"onset": 5.212589,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the drawer handle with the right arm.\nObservation: The right gripper failed to close with sufficient force to grasp the drawer handle\nResult: The gripper fails to pull the drawer",
"avoidance": "The gripper should close more tightly around the drawer handle before pulling."
},
{
"sample": "open_drawer_put_stapler_episode_15",
"task_id": "open_drawer_put_stapler",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/open_drawer_put_stapler/episode_15.hdf5",
"verdict": "fail",
"onset": 15.8680515,
"type": [
"open_error"
],
"reason": "Expected: Release the stapler into the open drawer.\nObservation: the left gripper hovers above the drawer without releasing the stapler.\nResult: the left gripper failed to release the stapler into the open drawer.",
"avoidance": "Release the left arm into the open drawer after alignment."
},
{
"sample": "open_left_right_door_episode_1",
"task_id": "open_left_right_door",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_left_right_door_episode_7",
"task_id": "open_left_right_door",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_7.hdf5",
"verdict": "fail",
"onset": 2.989473,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: The left gripper approached the left door handle with its orientation misaligned relative to the left door handle.\nResult: The left gripper failed to grasp the door handle.",
"avoidance": "Rotate the left gripper counterclockwise."
},
{
"sample": "open_left_right_door_episode_8",
"task_id": "open_left_right_door",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_8.hdf5",
"verdict": "fail",
"onset": 4.517266,
"type": [
"closing_error"
],
"reason": "Expected: Open the left door.\nObservation: The left gripper failed to maintain a secure grasp on the left door handle during the pull motion, causing it to slip off.\nResult: The door did not open.",
"avoidance": "Close the gripper more tightly during the pull motion"
},
{
"sample": "open_left_right_door_episode_15",
"task_id": "open_left_right_door",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_15.hdf5",
"verdict": "fail",
"onset": 7.661462,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the right door handle.\nObservation: the right gripper approached the right door handle with its orientation misaligned relative to the right door handle,\nResult: the gripper failed to engage the handle, leaving the right door closed.",
"avoidance": "Rotate the right gripper"
},
{
"sample": "open_left_right_door_episode_16",
"task_id": "open_left_right_door",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_16.hdf5",
"verdict": "fail",
"onset": 10.910982,
"type": [
"closing_error"
],
"reason": "Expected: Open the right door.\nObservation: The right gripper released the right door handle early.\nResult: The right gripper failed to open the right door.",
"avoidance": "The right gripper keeps holding the right door while opening."
},
{
"sample": "open_left_right_door_episode_17",
"task_id": "open_left_right_door",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_17.hdf5",
"verdict": "fail",
"onset": 1.832937,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: the right gripper instead of the left gripper was used approach the left door handle during the subtask for the left arm.\nResult: The task plan is violated",
"avoidance": "Move the left gripper during the approach phase"
},
{
"sample": "open_left_right_door_episode_18",
"task_id": "open_left_right_door",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/open_left_right_door/episode_18.hdf5",
"verdict": "fail",
"onset": 2.205894,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: The right gripper opened the right door while the left door was still not opened as the left gripper was still.\nResult: The left door was not opened by the left arm.",
"avoidance": "Move the left arm to approach and align with the left door handle first."
},
{
"sample": "open_lid_place_filter_episode_0",
"task_id": "open_lid_place_filter",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_place_filter_episode_1",
"task_id": "open_lid_place_filter",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_place_filter_episode_2",
"task_id": "open_lid_place_filter",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_place_filter_episode_4",
"task_id": "open_lid_place_filter",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_4.hdf5",
"verdict": "fail",
"onset": 6.012468,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the filter.\nObservation: he left arm erroneously initiated the approach to the filter, instead of the designated right arm. \nResult: the wrong arm was mobilized, violating the task sequence",
"avoidance": "Move the right arm instead of the left to align with the filter."
},
{
"sample": "open_lid_place_filter_episode_5",
"task_id": "open_lid_place_filter",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_5.hdf5",
"verdict": "fail",
"onset": 2.646735,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to align with the rice cooker lid.\nObservation: The right arm erroneously initiated the approach to and attempted to open the rice cooker lid, instead of the designated left arm.\nResult: The left gripper failed to open the rice cooker lid.",
"avoidance": "Move the left arm instead of the right to align with the rice cooker lid."
},
{
"sample": "open_lid_place_filter_episode_6",
"task_id": "open_lid_place_filter",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_6.hdf5",
"verdict": "fail",
"onset": 4.491955,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the filter.\nObservation: The right gripper and manipulated the Coca-Cola bottle instead of the filter in the alignment phase.\nResult: The filter was not grasped.",
"avoidance": "Move the gripper to align with the filter instead of the coca-cola bottle"
},
{
"sample": "open_lid_place_filter_episode_12",
"task_id": "open_lid_place_filter",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_12.hdf5",
"verdict": "fail",
"onset": 7.05621,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the filter.\nObservation: The right gripper approached with its orientation misaligned relative to the filter.\nResult: The right gripper failed to grasp the filter.",
"avoidance": "Rotate the right gripper counterclockwise."
},
{
"sample": "open_lid_place_filter_episode_14",
"task_id": "open_lid_place_filter",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_14.hdf5",
"verdict": "fail",
"onset": 8.33324,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the open rice cooker.\nObservation: the right gripper accidentally opened (released its grip) after grasping the filter and while moving it toward the rice cooker.\nResult: the arm continued its path but the object was filter was dropped",
"avoidance": "Close the right gripper tightly during alignment phase"
},
{
"sample": "open_lid_place_filter_episode_15",
"task_id": "open_lid_place_filter",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/open_lid_place_filter/episode_15.hdf5",
"verdict": "fail",
"onset": 7.971052,
"type": [
"open_error"
],
"reason": "Expected: Release the filter from the right arm.\nObservation: The right gripper failed to open and release the filter while positioned over the rice cooker.\nResult: The right gripper failed to open and release the filter.",
"avoidance": "Open the right gripper to release the filter."
},
{
"sample": "open_lid_put_spoon_episode_1",
"task_id": "open_lid_put_spoon",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_episode_4",
"task_id": "open_lid_put_spoon",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_4.hdf5",
"verdict": "fail",
"onset": 8.247671,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the open rice cooker.\nObservation: The left gripper did not hold the spoon firmly, causing it to slip and fall midway.\nResult: The left gripper failed to hold and place the spoon into the rice cooker.",
"avoidance": "Close the left gripper while moving."
},
{
"sample": "open_lid_put_spoon_episode_5",
"task_id": "open_lid_put_spoon",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_5.hdf5",
"verdict": "fail",
"onset": 6.392055,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon, causing a misalignment during grasping\nResult: the gripper failed to secure the spoon, leading to task abortion",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "open_lid_put_spoon_episode_6",
"task_id": "open_lid_put_spoon",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_6.hdf5",
"verdict": "fail",
"onset": 7.382421,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: the left gripper failed to grasp the white spoon.",
"avoidance": "Rotate the left gripper clockwise to align with the spoon handle."
},
{
"sample": "open_lid_put_spoon_episode_8",
"task_id": "open_lid_put_spoon",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_8.hdf5",
"verdict": "fail",
"onset": 2.479156,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to open the rice cooker lid first, instead of the right arm as planned.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to open the rice cooker lid.",
"avoidance": "Needs to use the right gripper to open the rice cooker lid."
},
{
"sample": "open_lid_put_spoon_episode_9",
"task_id": "open_lid_put_spoon",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_9.hdf5",
"verdict": "fail",
"onset": 9.242315,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The left gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: The left gripper failed to grasp the spoon.",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "open_lid_put_spoon_episode_11",
"task_id": "open_lid_put_spoon",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_11.hdf5",
"verdict": "fail",
"onset": 6.70821,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The left gripper approached the spoon, offset slightly to the left.\nResult: The left gripper failed to grasp the spoon.",
"avoidance": "Move the left gripper slightly to the right before grasping."
},
{
"sample": "open_lid_put_spoon_episode_13",
"task_id": "open_lid_put_spoon",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon/episode_13.hdf5",
"verdict": "fail",
"onset": 9.710101,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon during the approach to the spoon.\nResult: the left gripper failed to pick up the white spoon.",
"avoidance": "Rotate the left gripper clockwise slightly."
},
{
"sample": "open_lid_put_spoon_ep2_episode_0",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_1",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_2",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_3",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_4",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_5",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_6",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_7",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_8",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_9",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_10",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_11",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_12",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_13",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_14",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_15",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_16",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_17",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_18",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_19",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_20",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_21",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_22",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_23",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_24",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "open_lid_put_spoon_ep2_episode_36",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_36.hdf5",
"verdict": "fail",
"onset": 9,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The human hand occluded the spoon, which prevented the left gripper from grasping it.\nResult: The left gripper failed to grasp the spoon.",
"avoidance": "This is unavoidable; the spoon has been occluded."
},
{
"sample": "open_lid_put_spoon_ep2_episode_37",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_37",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_37.hdf5",
"verdict": "fail",
"onset": 10.12,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The spoon has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the spoon.",
"avoidance": "This is unavoidable; the target object has been taken away by a human."
},
{
"sample": "open_lid_put_spoon_ep2_episode_38",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_38",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_38.hdf5",
"verdict": "fail",
"onset": 3.36,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker lid bottom is occluded by a human hand, which prevents the right gripper from pressing it.\nResult: The right gripper failed to open the rice cooker lid.",
"avoidance": "This is unavoidable; the rice cooker lid bottom is occluded by a human hand."
},
{
"sample": "open_lid_put_spoon_ep2_episode_39",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_39",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_39.hdf5",
"verdict": "fail",
"onset": 3.64,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker lid bottom is occluded by a human hand, which prevents the right gripper from pressing it.\nResult: The right gripper failed to open the rice cooker lid.",
"avoidance": "This is unavoidable; the rice cooker lid bottom is occluded by a human hand."
},
{
"sample": "open_lid_put_spoon_ep2_episode_40",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_40",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_40.hdf5",
"verdict": "fail",
"onset": 4.08,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker has been taken away by a human, which prevents the right gripper from approaching it.\nResult: The right gripper failed to open the rice cooker lid.",
"avoidance": "This is unavoidable; the rice cooker has been taken away by a human."
},
{
"sample": "open_lid_put_spoon_ep2_episode_42",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_42",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_42.hdf5",
"verdict": "fail",
"onset": 11.44,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to align with the open rice cooker.\nObservation: The human hand with the plate occluded the pot, which prevented the left gripper from placing the white spoon into it.\nResult: The left gripper failed to put the white spoon in the rice cooker.",
"avoidance": "This is unavoidable; the pot has been occluded by a human."
},
{
"sample": "open_lid_put_spoon_ep2_episode_45",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_45",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_45.hdf5",
"verdict": "fail",
"onset": 2.524263,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The right gripper is still and didn't open the rice cooker lid, while the left gripper moved the spoon to the closed rice cooker.\nResult: The right arm failed to approach and press the lid's button.",
"avoidance": "Use the right arm to open the rice cooker lid first, then pick up the spoon with the left arm."
},
{
"sample": "open_lid_put_spoon_ep2_episode_46",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_46",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_46.hdf5",
"verdict": "fail",
"onset": 1.728157,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the required execution order.\nResult: The right arm failed to align with and press the rice cooker lid's button.",
"avoidance": "Move the right arm to align with the rice cooker lid's button first."
},
{
"sample": "open_lid_put_spoon_ep2_episode_47",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_47",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_47.hdf5",
"verdict": "fail",
"onset": 2.512894,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: the right gripper is idle, and the left gripper moved to the spoon and placed it on top of the closed rice cooker.\nResult: the right gripper failed to open the rice cooker, and the spoon was placed on the closed lid.",
"avoidance": "Move the right arm to align with the rice cooker lid's button first."
},
{
"sample": "open_lid_put_spoon_ep2_episode_48",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_48",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_48.hdf5",
"verdict": "fail",
"onset": 2.151393,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the required execution order.\nResult: The spoon was placed on the closed lid, causing a misplacement.",
"avoidance": "Move the right arm to align with the rice cooker lid's button first."
},
{
"sample": "open_lid_put_spoon_ep2_episode_49",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_49",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_49.hdf5",
"verdict": "fail",
"onset": 4.284579,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: the left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the task plan\nResult: The task plan is violated and the white spoon could not be placed into the rice cooker",
"avoidance": "Move the right arm to align with the rice cooker lid's button to open the lid first."
},
{
"sample": "open_lid_put_spoon_ep2_episode_50",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_50",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_50.hdf5",
"verdict": "fail",
"onset": 1.672981,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper pressed the button to open the rice cooker lid, while the right arm was still.\nResult: The right arm failed to open the rice cooker lid's button.",
"avoidance": "Move the right arm instead of the left to align with the rice cooker lid's button."
},
{
"sample": "open_lid_put_spoon_ep2_episode_51",
"task_id": "open_lid_put_spoon_ep2",
"episode": "episode_51",
"robot": "agilex",
"hdf5": "episodes/open_lid_put_spoon_ep2/episode_51.hdf5",
"verdict": "fail",
"onset": 2.331365,
"type": [
"wrong_sequence",
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper was used to align with the rice cooker's lid instead of the right arm as designated in the plan\nResult: The task execution plan is violated",
"avoidance": "Move the right arm to align with the rice cooker lid's button to open the lid."
},
{
"sample": "open_microwave_door_put_bowl_episode_0",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_microwave_door_put_bowl_episode_3",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_3.hdf5",
"verdict": "fail",
"onset": 2.618,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the microwave oven door.\nObservation: the left gripper approached the microwave door handle offset significantly to the right during approach, causing a failed grasp attempt. \nResult: the left gripper failed to grasp the handle.",
"avoidance": "Move the left gripper significantly to the left during alignment with the handle."
},
{
"sample": "open_microwave_door_put_bowl_episode_5",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_5.hdf5",
"verdict": "fail",
"onset": 6.865261,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the blue bowl with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the blue bowl, causing it to fail to pick up.\nResult: The gripper failed to pick up the bowl and place it inside the microwave.",
"avoidance": "Close the right gripper tightly to secure the blue bowl when grasping."
},
{
"sample": "open_microwave_door_put_bowl_episode_7",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_7.hdf5",
"verdict": "fail",
"onset": 7.797947,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right gripper incorrectly targeted the pink bowl instead of the blue bowl.\nResult: The right gripper failed to grasp the blue bowl.",
"avoidance": "Move the right arm to align with the blue bowl instead of the pink bowl."
},
{
"sample": "open_microwave_door_put_bowl_episode_8",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_8.hdf5",
"verdict": "fail",
"onset": 8.299098,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right gripper approached the blue bowl with its orientation misaligned relative to the blue bowl, causing a collision with the bowl edge.\nResult: The right gripper failed to grasp the blue bowl edge.",
"avoidance": "Rotate the right gripper clockwise."
},
{
"sample": "open_microwave_door_put_bowl_episode_10",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_10.hdf5",
"verdict": "fail",
"onset": 7.658703,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the inside of the microwave oven.\nObservation: the right gripper failed to close and grasp the blue bowl during the alignment phase with the oven.\nResult: the bowl was dropped and not moved into the microwave.",
"avoidance": "Close the right gripper tightly"
},
{
"sample": "open_microwave_door_put_bowl_episode_11",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_11.hdf5",
"verdict": "fail",
"onset": 7.430289,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: right gripper approached the blue bowl with its orientation misaligned relative to the blue bowl, causing a misalignment during grasp\nResult: the bowl was not picked up",
"avoidance": "Rotate the right gripper"
},
{
"sample": "open_microwave_door_put_bowl_episode_14",
"task_id": "open_microwave_door_put_bowl",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_bowl/episode_14.hdf5",
"verdict": "fail",
"onset": 2.779,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the microwave oven door.\nObservation: The left gripper approached the microwave door handle, offset significantly downward.\nResult: The left gripper failed to grasp the microwave door handle.",
"avoidance": "Move the left gripper significantly upward."
},
{
"sample": "open_microwave_door_put_green_duck_episode_0",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "open_microwave_door_put_green_duck_episode_1",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "open_microwave_door_put_green_duck_episode_2",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "open_microwave_door_put_green_duck_episode_3",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_3.hdf5",
"verdict": "fail",
"onset": 15.722752,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open microwave oven.\nObservation: The right gripper placed the green duck on the plate instead of inside the microwave.\nResult: The right gripper failed to put the green duck into the microwave oven.",
"avoidance": "Move the right arm to align with the open microwave oven instead of the plate."
},
{
"sample": "open_microwave_door_put_green_duck_episode_5",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_5.hdf5",
"verdict": "fail",
"onset": 4.349296,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the microwave oven\nObservation: the right gripper placed the green duck on the saucer instead of inside the microwave during the alignment subtask. \nResult: the object was mispositioned and the microwave remained empty.",
"avoidance": "Move the right arm to align with the microwave oven instead of the saucer."
},
{
"sample": "open_microwave_door_put_green_duck_episode_6",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_6.hdf5",
"verdict": "fail",
"onset": 11.511654,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to grasp the green duck.\nObservation: The right gripper incorrectly targeted the marker instead of the green duck.\nResult: The right gripper failed to grasp the correct target, the green duck.",
"avoidance": "Move the right arm to grasp the green duck instead of the marker."
},
{
"sample": "open_microwave_door_put_green_duck_episode_13",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_13.hdf5",
"verdict": "fail",
"onset": 3.847789,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to grasp the green duck.\nObservation: The right gripper failed to close sufficiently to grasp the green duck.\nResult: The right gripper failed to grasp the green duck.",
"avoidance": "Close the right gripper sufficiently to secure the duck."
},
{
"sample": "open_microwave_door_put_green_duck_episode_14",
"task_id": "open_microwave_door_put_green_duck",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/open_microwave_door_put_green_duck/episode_14.hdf5",
"verdict": "fail",
"onset": 4.902157,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the open microwave oven.\nObservation: the right gripper released and slipped the green duck when moving it to the microwave oven\nResult: the right arm failed to move the green duck to the microwave oven",
"avoidance": "Close the right gripper tightly while moving."
},
{
"sample": "pick_ball_put_drawer_episode_0",
"task_id": "pick_ball_put_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_ball_put_drawer_episode_1",
"task_id": "pick_ball_put_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_ball_put_drawer_episode_2",
"task_id": "pick_ball_put_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_ball_put_drawer_episode_4",
"task_id": "pick_ball_put_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_4.hdf5",
"verdict": "fail",
"onset": 6.4031,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right gripper mis-placed the ball into the mug instead of the open drawer during the alignment subtask.\nResult: the right gripper failed to approach and place the table tennis ball in open drawer",
"avoidance": "Move the right arm to align with the open drawer instead of the cup."
},
{
"sample": "pick_ball_put_drawer_episode_5",
"task_id": "pick_ball_put_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 5.45921,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open drawer.\nObservation: The right gripper released the tennis ball into the mug instead of the open drawer.\nResult: The right gripper failed to place the tennis ball into the open drawer.",
"avoidance": "Move the right arm to align with the open drawer instead of the cup."
},
{
"sample": "pick_ball_put_drawer_episode_6",
"task_id": "pick_ball_put_drawer",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_6.hdf5",
"verdict": "fail",
"onset": 2.481048,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the table tennis ball.\nObservation: the right gripper incorrectly selected and grasped the blue cube instead of the table tennis ball during the approach phase\nResult: the ball remained untouched on the table while the cube was placed in the drawer.",
"avoidance": "Move the right arm to approach and align with the table tennis ball instead of the blue blocks."
},
{
"sample": "pick_ball_put_drawer_episode_14",
"task_id": "pick_ball_put_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 5.198234,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the table tennis ball.\nObservation: the right gripper failed to close sufficiently to grasp the table tennis ball \nResult: the ball was not secured and remained on the table,",
"avoidance": "Close the right gripper tightly"
},
{
"sample": "pick_ball_put_drawer_episode_15",
"task_id": "pick_ball_put_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_ball_put_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 5.616526,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right gripper released and slipped the tennis ball while moving to the open drawer.\nResult: the right arm failed to move the tennis ball to the open drawer.",
"avoidance": "Close the right gripper tightly while moving"
},
{
"sample": "pick_block_drawer_to_plate_episode_0",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_block_drawer_to_plate_episode_7",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_7.hdf5",
"verdict": "fail",
"onset": 8.223138,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to align with the plate.\nObservation: The right gripper was positioned slightly forward.\nResult: The right gripper failed to place the purple cube on the plate.",
"avoidance": "Move the right gripper slightly backward before releasing."
},
{
"sample": "pick_block_drawer_to_plate_episode_13",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_13.hdf5",
"verdict": "fail",
"onset": 4.934263,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the purple block.\nObservation: The right gripper failed to close sufficiently to grasp the purple block.\nResult: The right gripper failed to grasp the purple block.",
"avoidance": "Close the right gripper tightly to secure the purple block."
},
{
"sample": "pick_block_drawer_to_plate_episode_15",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_block_drawer_to_plate_episode_24",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_24.hdf5",
"verdict": "fail",
"onset": 4.202314,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to approach and grasp the purple block inside the drawer.\nObservation: the right gripper failed to close sufficiently and grasp the purple block\nResult: the right gripper failed to lift the purple block",
"avoidance": "Close the right gripper sufficiently before lifting."
},
{
"sample": "pick_block_drawer_to_plate_episode_28",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_28.hdf5",
"verdict": "fail",
"onset": 7.619531,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to align with the plate.\nObservation: the right gripper approached the plate offset significantly backward during the approach to the plate, causing the purple block to be dropped beside it instead of placed inside.\nResult: the block is now on the table, invalidating the placement goal.",
"avoidance": "Move the right gripper to the forward significantly."
},
{
"sample": "pick_block_drawer_to_plate_episode_29",
"task_id": "pick_block_drawer_to_plate",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/pick_block_drawer_to_plate/episode_29.hdf5",
"verdict": "fail",
"onset": 7.022315,
"type": [
"translation_error",
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the plate.\nObservation: The right gripper dropped the purple cubes to a place where it is deviate slightly forward ot target plate.\nResult: The right gripper failed to place the purple cubes inside the plate.",
"avoidance": "Move the right gripper slightly backward."
},
{
"sample": "pick_bowl_cube_episode_0",
"task_id": "pick_bowl_cube",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_episode_3",
"task_id": "pick_bowl_cube",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_3.hdf5",
"verdict": "fail",
"onset": 3.134735,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl.\nResult: The left gripper failed to grasp the pink bowl.",
"avoidance": "Rotate the left gripper clockwise before grasping."
},
{
"sample": "pick_bowl_cube_episode_4",
"task_id": "pick_bowl_cube",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_4.hdf5",
"verdict": "fail",
"onset": 3.572234,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the pink bowl with the left arm.\nObservation: the left gripper failed to close sufficiently to secure the pink bowl\nResult: the left gripper failed to grasp the pink bowl",
"avoidance": "Close the left gripper sufficiently to grasp the bowl."
},
{
"sample": "pick_bowl_cube_episode_8",
"task_id": "pick_bowl_cube",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_8.hdf5",
"verdict": "fail",
"onset": 7.383503,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the yellow cube.\nObservation: he right gripper approached the yellow cube offset slightly to the left, misaligning its grasp axis\nResult: the gripper failed to engage the cube properly, preventing pickup.",
"avoidance": "Move the right gripper to the right slightly."
},
{
"sample": "pick_bowl_cube_episode_10",
"task_id": "pick_bowl_cube",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_10.hdf5",
"verdict": "fail",
"onset": 6.310105,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the yellow cube with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the yellow cube.\nResult: The right gripper failed to grasp the yellow cube.",
"avoidance": "Close the right gripper sufficiently to secure the yellow cube."
},
{
"sample": "pick_bowl_cube_episode_11",
"task_id": "pick_bowl_cube",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_11.hdf5",
"verdict": "fail",
"onset": 1.635842,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The right gripper prematurely grasped the yellow cube before the left gripper had repositioned the pink bowl to the center.\nResult: The cube was placed in a misaligned bowl, compromising task accuracy.",
"avoidance": "needs to use the left gripper to place the pink bowl in the center and then use the right gripper to place the yellow cube into the pink bowl"
},
{
"sample": "pick_bowl_cube_episode_12",
"task_id": "pick_bowl_cube",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_12.hdf5",
"verdict": "fail",
"onset": 2.086736,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: the left gripper's orientation was misaligned relative to the pink bowl rim, causing it to collide with the rim.\nResult: the left gripper failed to grasp the pink bowl.",
"avoidance": "Rotate the left gripper clockwise to align the bowl rim."
},
{
"sample": "pick_bowl_cube_episode_14",
"task_id": "pick_bowl_cube",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube/episode_14.hdf5",
"verdict": "fail",
"onset": 6.526565,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the yellow cube.\nObservation: the right gripper approached the yellow cube offset slightly to the right and slightly forward, causing misalignment during the grasp attempt.\nResult: the gripper failed to securely engage the object",
"avoidance": "Move the right gripper to the left and backward slightly"
},
{
"sample": "pick_bowl_cube_ep2_episode_0",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_1",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_2",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_3",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_4",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_5",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_6",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_7",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_8",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_9",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_10",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_11",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_12",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_13",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_14",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_15",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_16",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_17",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_18",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_19",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_20",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_21",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_22",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_23",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_24",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_cube_ep2_episode_26",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_26",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_26.hdf5",
"verdict": "fail",
"onset": 5.079684,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper incorrectly prioritized the yellow cube before the left gripper positioned the pink bowl\nResult: the left arm did not move, the cube was placed in an unprepared location",
"avoidance": "Move the left arm to grasp the pink bowl."
},
{
"sample": "pick_bowl_cube_ep2_episode_36",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_36.hdf5",
"verdict": "fail",
"onset": 4.68,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The pink bowl has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the pink bowl.",
"avoidance": "This is unavoidable; the pink bowl has been taken away by a human."
},
{
"sample": "pick_bowl_cube_ep2_episode_37",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_37",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_37.hdf5",
"verdict": "fail",
"onset": 4.64,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The pink bowl is occluded by human hands, which prevents the left gripper from grasping it.\nResult: The right gripper failed to grasp the pink bowl.",
"avoidance": "This is unavoidable; the pink bowl is occluded by human hands."
},
{
"sample": "pick_bowl_cube_ep2_episode_38",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_38",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_38.hdf5",
"verdict": "fail",
"onset": 9.76,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: the yellow cube has been occluded by a human hand, which prevented the right gripper from grasping it\nResult: the right gripper failed to grasp the yellow cube",
"avoidance": "This is unavoidable; the yellow cube has been occluded."
},
{
"sample": "pick_bowl_cube_ep2_episode_39",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_39",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_39.hdf5",
"verdict": "fail",
"onset": 10,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: The yellow cube has been taken away by a human, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the yellow cube.",
"avoidance": "This is unavoidable; the yellow cube has been taken away by a human."
},
{
"sample": "pick_bowl_cube_ep2_episode_40",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_40",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_40.hdf5",
"verdict": "fail",
"onset": 10.44,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: The yellow cube has been taken away by a human, which prevents the right gripper from aligning with it.\nResult: The right gripper failed to grasp the yellow cube.",
"avoidance": "This is unavoidable; the yellow cube has been taken away by a human."
},
{
"sample": "pick_bowl_cube_ep2_episode_41",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_41",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_41.hdf5",
"verdict": "fail",
"onset": 12.84,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The pink bowl is occluded by human hands, which prevents the right gripper from placing the yellow cube into it.\nResult: The right gripper failed to place the yellow cube into the pink bowl.",
"avoidance": "This is unavoidable; the pink bowl is occluded by human hands."
},
{
"sample": "pick_bowl_cube_ep2_episode_42",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_42",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_42.hdf5",
"verdict": "fail",
"onset": 11.92,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Place the yellow cube into the pink bowl.\nObservation: The pink bowl was flipped over, causing the opening to face downward, so the right gripper could not place the yellow cube inside.\nResult: The right gripper failed to place the yellow cube into the pink bowl.",
"avoidance": "This is unavoidable; The pink bowl was flipped over, causing the opening to face downward"
},
{
"sample": "pick_bowl_cube_ep2_episode_43",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_43",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_43.hdf5",
"verdict": "fail",
"onset": 11.6,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: the pink bowl has been taken away by a human, which prevents the right gripper from placing the yellow cube into it.\nResult: the right gripper failed to place the yellow cube into the pink bowl.",
"avoidance": "This is unavoidable; the pink bowl has been taken away by a human."
},
{
"sample": "pick_bowl_cube_ep2_episode_44",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_44",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_44.hdf5",
"verdict": "fail",
"onset": 12.84,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The pink bowl is occluded by a green plate, which prevents the right gripper from placing the yellow cubes into it.\nResult: The right gripper failed to place the yellow cubes into the pink bowl.",
"avoidance": "This is unavoidable; the pink bowl is occluded by a green plate."
},
{
"sample": "pick_bowl_cube_ep2_episode_45",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_45",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_45.hdf5",
"verdict": "fail",
"onset": 1.973945,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper prematurely moved the yellow cube toward the bowl before the left gripper had repositioned it to the table's center.\nResult: The cube was placed in a misaligned bowl, compromising task accuracy.",
"avoidance": "The left gripper places the pink bowl in the center first, and then the right gripper places the yellow cube into the pink bowl."
},
{
"sample": "pick_bowl_cube_ep2_episode_46",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_46",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_46.hdf5",
"verdict": "fail",
"onset": 2.345339,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper prematurely grasped the yellow cube before the left gripper positioned the pink bowl at the center\nResult: the left gripper failed to position and grasp the pink bowl at the center",
"avoidance": "Move the left arm to align with the pink bowl first."
},
{
"sample": "pick_bowl_cube_ep2_episode_47",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_47",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_47.hdf5",
"verdict": "fail",
"onset": 2.116052,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper prematurely grasped the yellow cube before the left gripper positioned the pink bowl at the center, violating the execution order.\nResult: The left gripper failed to approach and grab the pink bowl to the center.",
"avoidance": "Move the left arm to align with the pink bowl first."
},
{
"sample": "pick_bowl_cube_ep2_episode_48",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_48",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_48.hdf5",
"verdict": "fail",
"onset": 2.375282,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper was used to pick up the yellow cube before the left gripper moved the pink bowl to the center, violating the execution ord\nResult: the cube was placed in the bowl while it was still off-center",
"avoidance": "Move the left arm to align with the pink bowl first."
},
{
"sample": "pick_bowl_cube_ep2_episode_49",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_49",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_49.hdf5",
"verdict": "fail",
"onset": 2.258105,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper was used to pick up the yellow cube before the left gripper moved the pink bowl to the center, violating the execution order.\nResult: The left gripper failed to approach and grasp the pink bowl.",
"avoidance": "Move the left arm to align with the pink bowl first."
},
{
"sample": "pick_bowl_cube_ep2_episode_73",
"task_id": "pick_bowl_cube_ep2",
"episode": "episode_73",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_cube_ep2/episode_73.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_on_top_shelf_episode_2",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_2.hdf5",
"verdict": "fail",
"onset": 6.182473,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the top shelf.\nObservation: The left gripper placed the pink bowl on the second shelf instead of the top shelf.\nResult: The left gripper failed to place the pink bowl on the top shelf.",
"avoidance": "The left gripper needs to place the pink bowl on the top shelf."
},
{
"sample": "pick_bowl_on_top_shelf_episode_3",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_3.hdf5",
"verdict": "fail",
"onset": 3.218648,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the pink bowl.\nObservation: the left gripper failed to close sufficiently to grasp the pink bowl \nResult: the bowl remained on the table and the robot could not proceed to align it with the top shelf",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "pick_bowl_on_top_shelf_episode_4",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_4.hdf5",
"verdict": "fail",
"onset": 3.202525,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl.\nResult: The left gripper failed to grasp the pink bowl.",
"avoidance": "Rotate the left gripper counterclockwise before grasping."
},
{
"sample": "pick_bowl_on_top_shelf_episode_5",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_5.hdf5",
"verdict": "fail",
"onset": 3.799871,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The task failed because the left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl edge, causing a misalignment during grasp.\nResult: the gripper failed to secure the bowl, leading to task abortion.",
"avoidance": "Rotate the gripper clockwise to align with the pink bowl."
},
{
"sample": "pick_bowl_on_top_shelf_episode_6",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_6.hdf5",
"verdict": "fail",
"onset": 4.012706,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper incorrectly selected and moved the blue bowl instead of the pink bowl.\nResult: The left arm failed to grasp the pink bowl.",
"avoidance": "Move the left arm to approach and align the pink bowl instead of the blue one."
},
{
"sample": "pick_bowl_on_top_shelf_episode_7",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_7.hdf5",
"verdict": "fail",
"onset": 4.5438095,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the top shelf.\nObservation: the left gripper failed to close sufficiently when grasping the pink bowl during alignment with the top shelf \nResult: The bowl is dropped onto the table, halting subsequent subtasks",
"avoidance": "close the left gripper tightly"
},
{
"sample": "pick_bowl_on_top_shelf_episode_8",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_on_top_shelf_episode_9",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_9.hdf5",
"verdict": "fail",
"onset": 5.527613,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: the left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl\nResult: the gripper failed to grasp the pink bowl.",
"avoidance": "Rotate the left gripper clockwise."
},
{
"sample": "pick_bowl_on_top_shelf_episode_12",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_bowl_on_top_shelf_episode_13",
"task_id": "pick_bowl_on_top_shelf",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_bowl_on_top_shelf/episode_13.hdf5",
"verdict": "fail",
"onset": 3.787576,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The right gripper was incorrectly used instead of the left gripper to approach the pink bowl.\nResult: Used the wrong gripper; used the right gripper, not the left gripper, to grasp the pink bowl.",
"avoidance": "needs to use the left gripper to grasp the pink bowl"
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_25",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_25",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_25.hdf5",
"verdict": "fail",
"onset": 2.391145,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the Coke bottle.\nResult: Used the right arm, not the left arm, to grasp the Coke bottle.",
"avoidance": "Use the left arm to grasp the Coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_26",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_26",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_26.hdf5",
"verdict": "fail",
"onset": 2.782894,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right gripper approached to grasp the Coke instead of the left gripper.\nResult: The left gripper did not grasp the Coke, and the task plan is vioalted.",
"avoidance": "The left gripper should move to approach and align with the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_27",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_27",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_27.hdf5",
"verdict": "fail",
"onset": 2.963947,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm to perform this action.\nResult: The left gripper failed to approach and grasp the coke bottle.",
"avoidance": "Move the left arm instead of the right to approach and align the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_28",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_28.hdf5",
"verdict": "fail",
"onset": 2.810731,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle.\nResult: Using the right arm instead of the left arm to grasp the coke bottle led to the task failing.",
"avoidance": "Use the left arm to grasp the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_29",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_29.hdf5",
"verdict": "fail",
"onset": 3.298455,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right gripper is first aligned with the Coke bottle.\nResult: The Coke bottle was not grasped by the left gripper.",
"avoidance": "The left gripper should be used to align with and grasp the Coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_30",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_30.hdf5",
"verdict": "fail",
"onset": 2.89,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, instead of the planned left arm.\nResult: The left arm failed to approach and move to the coke bottle.",
"avoidance": "Move the left arm instead of the right to approach and align the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_31",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_31",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_31.hdf5",
"verdict": "fail",
"onset": 2.468947,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: the right arm was incorrectly used to manipulate the coke bottle\nResult: used the wrong arm to pick up the coke bottle",
"avoidance": "Use the left arm to pick up the Coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_32",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_32",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_32.hdf5",
"verdict": "fail",
"onset": 2.362526,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, instead of the planned left arm.\nResult: The left arm failed to approach and grasp the coke bottle.",
"avoidance": "Move the left arm instead of the right arm to approach and align the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_33",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_33",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_33.hdf5",
"verdict": "fail",
"onset": 2.529684,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm to perform this action.\nResult: The left gripper failed to grasp the coke bottle.",
"avoidance": "Move the left arm instead of the right to approach and align the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_34",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_34",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_34.hdf5",
"verdict": "fail",
"onset": 2.768275,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: the right arm was incorrectly used to approach the coke bottle instead of the designated left arm\nResult: This violates the task plan",
"avoidance": "Move the left arm instead of the right to approach and align the coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_35",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_35",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_35.hdf5",
"verdict": "fail",
"onset": 1.857891,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the coke bottle.",
"avoidance": "Needs to use the left arm to grasp the Coke bottle."
},
{
"sample": "pick_coke_bottle_place_plate_ep1_episode_36",
"task_id": "pick_coke_bottle_place_plate_ep1",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_36.hdf5",
"verdict": "fail",
"onset": 3.074631,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the Coke bottle, even though the task plan required the left arm.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the Coke bottle.",
"avoidance": "Needs to move the left arm to grasp the Coke bottle."
},
{
"sample": "pick_cube_drawer_plate_episode_0",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_drawer_plate_episode_1",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_drawer_plate_episode_2",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_drawer_plate_episode_3",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_3.hdf5",
"verdict": "fail",
"onset": 2.1696,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The left gripper incorrectly targeted and retrieved a red cube from the bowl instead of the pink cube from the drawer during alignment.\nResult: The wrong object was grasped.",
"avoidance": "Move the left arm to align with the pink cube in the drawer, not the red cube in the bowl."
},
{
"sample": "pick_cube_drawer_plate_episode_4",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_4.hdf5",
"verdict": "fail",
"onset": 1.955827,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The right gripper moves to align with the pink cube from the drawer\nResult: The wrong arm executed the action, leading to incorrect object handling.",
"avoidance": "Move the left arm instead of the right arm"
},
{
"sample": "pick_cube_drawer_plate_episode_5",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_5.hdf5",
"verdict": "fail",
"onset": 3.896,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper incorrectly placed the pink cube into the bowl instead of onto the plate.\nResult: The target object was mispositioned on the blue bowl instead of the blue plate.",
"avoidance": "Move the left arm to the blue plate."
},
{
"sample": "pick_cube_drawer_plate_episode_6",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_6.hdf5",
"verdict": "fail",
"onset": 1.607999,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The right gripper, instead of the assigned left gripper, moves to pick up the pink cube and places it in the blue bowl.\nResult: the task plan is violated",
"avoidance": "The left gripper should be moved to pick up the pink cube."
},
{
"sample": "pick_cube_drawer_plate_episode_13",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_13.hdf5",
"verdict": "fail",
"onset": 1.835255,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the pink cube.\nObservation: the left gripper failed to close sufficiently to grasp the pink cube \nResult: the cube could not be secured and lifted",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "pick_cube_drawer_plate_episode_14",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_14.hdf5",
"verdict": "fail",
"onset": 3.133683,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper unexpectedly opened while transporting the pink cube towards the plate.\nResult: The left gripper failed to place the pink cube on the blue plate.",
"avoidance": "Close the left gripper while moving."
},
{
"sample": "pick_cube_drawer_plate_episode_15",
"task_id": "pick_cube_drawer_plate",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_cube_drawer_plate/episode_15.hdf5",
"verdict": "fail",
"onset": 6.36,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the pink cube on the plate.\nObservation: The left gripper failed to open to release the pink cube onto the plate.\nResult: The left gripper failed to release the cube on the plate.",
"avoidance": "Open the left gripper to release the cube."
},
{
"sample": "pick_cube_place_plate_episode_0",
"task_id": "pick_cube_place_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_0.hdf5",
"verdict": "fail",
"onset": 2.721942,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: Gripper was slightly offset forward, misaligning its grasp axis.\nResult: The gripper failed to make contact or grasp the cube.",
"avoidance": "Move the gripper slightly backward."
},
{
"sample": "pick_cube_place_plate_episode_1",
"task_id": "pick_cube_place_plate",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_place_plate_episode_2",
"task_id": "pick_cube_place_plate",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_2.hdf5",
"verdict": "fail",
"onset": 3.118876,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the blue cube.\nObservation: the left gripper didn't close enough to grasp the blue cube.\nResult: the left gripper failed to grasp the blue cube before moving.",
"avoidance": "Close the left gripper with enough force before moving."
},
{
"sample": "pick_cube_place_plate_episode_3",
"task_id": "pick_cube_place_plate",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_3.hdf5",
"verdict": "fail",
"onset": 3.509999,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left gripper approached the blue cube offset slightly to the left.\nResult: the left gripper failed to grasp the blue cube.",
"avoidance": "Move the left gripper to the right slightly."
},
{
"sample": "pick_cube_place_plate_episode_4",
"task_id": "pick_cube_place_plate",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_4.hdf5",
"verdict": "fail",
"onset": 2.490947,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: The left gripper approached the blue cube, offset slightly to the right and slightly backward.\nResult: The left gripper failed to grasp the blue cube.",
"avoidance": "Move the left gripper to the left, downward, and forward slightly."
},
{
"sample": "pick_cube_place_plate_episode_5",
"task_id": "pick_cube_place_plate",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_5.hdf5",
"verdict": "fail",
"onset": 2.588524,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: The left gripper approached the blue cube, offset slightly upward.\nResult: The left gripper missed grasping the blue cube.",
"avoidance": "Move the left gripper slightly downward."
},
{
"sample": "pick_cube_place_plate_episode_6",
"task_id": "pick_cube_place_plate",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_6.hdf5",
"verdict": "fail",
"onset": 3.9283945,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the green plate.\nObservation: the left gripper unexpectedly opened immediately after successfully grasping and lifting the blue cube, causing the cube to slip from its grasp and fall\nResult: the cube was dropped mid-transport and could not be placed onto the green plate",
"avoidance": "Close the left gripper during alignment phase"
},
{
"sample": "pick_cube_place_plate_episode_7",
"task_id": "pick_cube_place_plate",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_7.hdf5",
"verdict": "fail",
"onset": 2.170526,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left gripper incorrectly selected and picked up the green cube instead of the blue cube\nResult: the left gripper failed to grasp the blue cube",
"avoidance": "Move the left gripper to the right and forward significantly to grasp the blue cube."
},
{
"sample": "pick_cube_place_plate_episode_9",
"task_id": "pick_cube_place_plate",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_cube_place_plate/episode_9.hdf5",
"verdict": "fail",
"onset": 4.215263,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left arm did not open its gripper before attempting to grasp the blue cube\nResult: the left gripper failed to grasp the blue cube",
"avoidance": "Open the left gripper during approaching the blue cube"
},
{
"sample": "pick_cube_put_pot_episode_0",
"task_id": "pick_cube_put_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_put_pot_episode_1",
"task_id": "pick_cube_put_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_put_pot_episode_2",
"task_id": "pick_cube_put_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_put_pot_episode_3",
"task_id": "pick_cube_put_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 4.043597,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper misaligned its target, placing the red cube into the glass instead of the red pot.\nResult: The left gripper failed to move the red cube into the red pot.",
"avoidance": "Move the left arm to align with the red pot instead of the glass."
},
{
"sample": "pick_cube_put_pot_episode_4",
"task_id": "pick_cube_put_pot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_4.hdf5",
"verdict": "fail",
"onset": 6.535172,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: the left gripper placed the red cube on the purple plate instead of the red pot during alignment\nResult: The red cube was misplaced",
"avoidance": "Move the left arm to align with the red pot instead of the purple plate."
},
{
"sample": "pick_cube_put_pot_episode_5",
"task_id": "pick_cube_put_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 1.996418,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the red cube.\nObservation: The left gripper aligned with and grasped the green block.\nResult: The red block is not grasped by the left gripper.",
"avoidance": "Align the left gripper with the red block."
},
{
"sample": "pick_cube_put_pot_episode_13",
"task_id": "pick_cube_put_pot",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_13.hdf5",
"verdict": "fail",
"onset": 3.992368,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the red cube.\nObservation: The left gripper failed to close sufficiently to grasp the red cube.\nResult: The left gripper failed to grasp the red cube.",
"avoidance": "Close the left gripper sufficiently to secure the red cube."
},
{
"sample": "pick_cube_put_pot_episode_14",
"task_id": "pick_cube_put_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_cube_put_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 3.430736,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the red cube.\nObservation: The left gripper failed to close sufficiently to grasp the red cube.\nResult: The left gripper failed to grasp the red cube.",
"avoidance": "Close the left gripper to grasp the red cube."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_0",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_1",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_2",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_3",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_4",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_5",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_6",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_7",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_8",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_9",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_10",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_11",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_12",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_13",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_14",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_15",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_16",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_17",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_18",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_19",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_20",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_21",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_22",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_23",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_24",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_25",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_25",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_25.hdf5",
"verdict": "fail",
"onset": 6.3730519999999995,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right gripper dropped the blue cube directly into the basket, violating the planned sequence, which should transfer the blue cube to the left arm.\nResult: The right arm failed to transfer the blue cube to the left arm.",
"avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm instead of dropping it into the basket."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_26",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_26",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_26.hdf5",
"verdict": "fail",
"onset": 7.516315499999999,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm bypassed the planned transfer step and directly placed the blue cube into the basket.\nResult: This led to the left arm being idle and the task’s dual-arm coordination objective being unmet.",
"avoidance": "The right gripper needs to transfer the blue cube to the left gripper."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_27",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_27",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_27.hdf5",
"verdict": "fail",
"onset": 10.4,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: The left and right grippers moved to the center, then the left gripper moved to the basket; the whole process did not interact with any object.\nResult: The right arm failed to approach and align with the blue cube.",
"avoidance": "Move the right arm to approach and align with the blue cube."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_28",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_28.hdf5",
"verdict": "fail",
"onset": 7.006896,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm grasped the blue cube but did not transfer it to the left arm as planned.\nResult: The left arm remained idle, and the cube was placed directly into the basket by the right arm, violating the task sequence.",
"avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm instead of dropping it inside the basket with the right arm."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_36",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_36.hdf5",
"verdict": "fail",
"onset": 4.845157,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: the right arm directly dropped the blue cube inside the basket instead of transferring it to the left arm\nResult: the right arm failed to transfer the blue cube to the left arm",
"avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_41",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_41",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_41.hdf5",
"verdict": "fail",
"onset": 4.49705,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm bypassed the planned transfer step and directly placed the blue cube into the basket, violating the required handoff to the left arm.\nResult: The right arm failed to transfer the blue cube to the left arm.",
"avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_42",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_42",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_42.hdf5",
"verdict": "fail",
"onset": 4.3565015,
"type": [
"wrong_placement",
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: the right arm bypassed the transfer step and directly placed the blue cube into the basket, violating the task plan\nResult: The task plan to place the cube with the left arm is violated",
"avoidance": "n.a."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_83",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_83",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_83.hdf5",
"verdict": "fail",
"onset": 6.56,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm, holding the blue cube, did not transfer it to the left arm as planned.\nResult: The right gripper failed to transfer the blue cube to the left arm.",
"avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm."
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_95",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_95",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_95.hdf5",
"verdict": "fail",
"onset": 2.268473,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: The right arm did not open its gripper before attempting to grasp the blue cube.\nResult: The right arm failed to grasp the blue cube.",
"avoidance": "Open the right gripper to grasp"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_96",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_96",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_96.hdf5",
"verdict": "fail",
"onset": 2.357875,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: the right arm did not open its gripper before attempting to grasp the blue cube, even though it was properly aligned.\nResult: The cube from being picked up, stopping the transfer sequence",
"avoidance": "Open the right gripper during the alignment phase"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_97",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_97",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_97.hdf5",
"verdict": "fail",
"onset": 6.746947,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The left arm did not open its gripper when it was supposed to receive the blue cube from the right arm.\nResult: The left arm failed to grasp the blue cube.",
"avoidance": "Open the left gripper to grasp"
},
{
"sample": "pick_cube_transfer_place_basket_ep1_episode_106",
"task_id": "pick_cube_transfer_place_basket_ep1",
"episode": "episode_106",
"robot": "agilex",
"hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_106.hdf5",
"verdict": "fail",
"onset": 11.614991,
"type": [
"open_error"
],
"reason": "Expected: Place the blue cube into the basket using the left arm.\nObservation: the left gripper failed to open fully while positioning the blue cube over the basket,\nResult: the left gripper failed to drop the blue cube inside the basket",
"avoidance": "Open the left gripper to release the cube."
},
{
"sample": "pick_cup_on_left_table_episode_0",
"task_id": "pick_cup_on_left_table",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_cup_on_left_table_episode_1",
"task_id": "pick_cup_on_left_table",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_1.hdf5",
"verdict": "fail",
"onset": 2.991157,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup, offset slightly to the right and backward.\nResult: The right gripper failed to grasp the blue cup.",
"avoidance": "Move the right gripper to the left and slightly forward."
},
{
"sample": "pick_cup_on_left_table_episode_2",
"task_id": "pick_cup_on_left_table",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_2.hdf5",
"verdict": "fail",
"onset": 3.434244,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the blue cup.\nObservation: the right gripper failed to close sufficiently while grasping the blue cup\nResult: The gripper did not grasp the blue cup",
"avoidance": "Close the gripper more tightly"
},
{
"sample": "pick_cup_on_left_table_episode_3",
"task_id": "pick_cup_on_left_table",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_3.hdf5",
"verdict": "fail",
"onset": 3.715684,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup with its orientation misaligned relative to the blue cup, causing it to strike the cup’s side instead of grasping it.\nResult: The right gripper failed to grasp the blue cup edge.",
"avoidance": "Rotate the right gripper counterclockwise."
},
{
"sample": "pick_cup_on_left_table_episode_4",
"task_id": "pick_cup_on_left_table",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_4.hdf5",
"verdict": "fail",
"onset": 2.718947,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the left table.\nObservation: The right gripper failed to maintain a secure grasp on the blue cup during transit.\nResult: The right gripper failed to place the blue cup on the left table.",
"avoidance": "Close the right gripper while moving"
},
{
"sample": "pick_cup_on_left_table_episode_5",
"task_id": "pick_cup_on_left_table",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_5.hdf5",
"verdict": "fail",
"onset": 3.247769,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the left arm was incorrectly used to manipulate the blue cup, even though the task plan required the right arm to perform this action. \nResult: The task plan was executed with the wrong gripper",
"avoidance": "Use the right gripper instead to align with the cup"
},
{
"sample": "pick_cup_on_left_table_episode_7",
"task_id": "pick_cup_on_left_table",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_7.hdf5",
"verdict": "fail",
"onset": 4.697274,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper was orientation misaligned with the blue cup rim when approaching it.\nResult: The gripper failed to grasp the cup securely, resulting in a failed grasp.",
"avoidance": "The gripper can rotate 90 degrees to align with the cup rim."
},
{
"sample": "pick_cup_on_left_table_episode_8",
"task_id": "pick_cup_on_left_table",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_8.hdf5",
"verdict": "fail",
"onset": 3.423947,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup, offset slightly to the left.\nResult: The gripper failed to secure the cup.",
"avoidance": "Move the right gripper slightly to the right."
},
{
"sample": "pick_cup_on_left_table_episode_13",
"task_id": "pick_cup_on_left_table",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_13.hdf5",
"verdict": "fail",
"onset": 2.879997,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the left arm was incorrectly used to manipulate the blue cup, even though the task plan required the right arm to perform this action.\nResult: the blue cup was aligned and picked up by the wrong gripper.",
"avoidance": "Move the right arm instead of the left to approach and align the blue cup."
},
{
"sample": "pick_cup_on_left_table_episode_14",
"task_id": "pick_cup_on_left_table",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_cup_on_left_table/episode_14.hdf5",
"verdict": "fail",
"onset": 4.025489,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the right gripper approached the blue cup with its orientation misaligned relative to the blue cup\nResult: The right gripper misses the grasp with the blue cup",
"avoidance": "Rotate the right gripper"
},
{
"sample": "pick_cylinder_place_drawer_episode_0",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_cylinder_place_drawer_episode_1",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_cylinder_place_drawer_episode_2",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_cylinder_place_drawer_episode_3",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 1.807999,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper incorrectly targeted and picked up the red cube instead of the green cylinder.\nResult: The left gripper picked up the red cube.",
"avoidance": "The left gripper needs to grasp the green cylinder."
},
{
"sample": "pick_cylinder_place_drawer_episode_5",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 2.658526,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: the right arm grabbed the green cylinder instead of the left one, and the left gripper kept still.\nResult: the left gripper failed to approach and grasp the green cylinder.",
"avoidance": "Move the left arm instead of the right to approach and align with the green cylinder on the plate."
},
{
"sample": "pick_cylinder_place_drawer_episode_6",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_6.hdf5",
"verdict": "fail",
"onset": 2.550573,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: the right gripper grasped the orange blocks, while the plan is for the left arm to approach and grasp the green cylinders.\nResult: the left gripper failed to grasp the cylinders.",
"avoidance": "Move the left arm instead of the right to approach and align with the green cylinder on the plate."
},
{
"sample": "pick_cylinder_place_drawer_episode_10",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_10.hdf5",
"verdict": "fail",
"onset": 3.036105,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper is slightly to the right of the green cylinder, causing a collision with the orange cube.\nResult: The left gripper failed to grasp the green cylinder.",
"avoidance": "Move the left gripper slightly to the left."
},
{
"sample": "pick_cylinder_place_drawer_episode_13",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_13.hdf5",
"verdict": "fail",
"onset": 3.49021,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green cylinder.\nObservation: The left gripper failed to close sufficiently to grasp the green cylinder.\nResult: The left gripper failed to grasp the green cylinder.",
"avoidance": "Close the left gripper sufficiently to secure the green cylinder."
},
{
"sample": "pick_cylinder_place_drawer_episode_14",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 2.998105,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper did not open to securely grasp the green cylinder.\nResult: The left gripper failed to grasp the green cylinder.",
"avoidance": "Open the left gripper during the grasping"
},
{
"sample": "pick_cylinder_place_drawer_episode_15",
"task_id": "pick_cylinder_place_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_cylinder_place_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 3.351789,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the green cylinder into the drawer.\nObservation: The left gripper failed to open to release the green cylinder into the drawer during the placement phase.\nResult: The left gripper failed to release the green cylinder.",
"avoidance": "Open the left gripper to release"
},
{
"sample": "pick_eraser_place_right_box_episode_0",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_eraser_place_right_box_episode_1",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_eraser_place_right_box_episode_2",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_eraser_place_right_box_episode_3",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_3.hdf5",
"verdict": "fail",
"onset": 2.823021,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The right gripper, not the left, was commanded to approach the eraser\nResult: The wrong arm executed the motion for approaching and aligning the eraser",
"avoidance": "Move left arm instead for the approach and alignment action"
},
{
"sample": "pick_eraser_place_right_box_episode_4",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_4.hdf5",
"verdict": "fail",
"onset": 2.275,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The right gripper, not the left, was used to grasp the eraser, violating the task plan.\nResult: Used the wrong gripper; used the right gripper, not the left, to grasp the blackboard eraser.",
"avoidance": "needs to move the left gripper to grasp the blackboard eraser"
},
{
"sample": "pick_eraser_place_right_box_episode_5",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_5.hdf5",
"verdict": "fail",
"onset": 1.991314,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The left gripper grasped the soda can instead of the eraser.\nResult: The left gripper failed to grasp the eraser.",
"avoidance": "The left gripper needs to grasp the eraser."
},
{
"sample": "pick_eraser_place_right_box_episode_6",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_6.hdf5",
"verdict": "fail",
"onset": 2.138684,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The left gripper grasped the stapler instead of the eraser.\nResult: The left gripper failed to grasp the eraser.",
"avoidance": "The left gripper needs to grasp the eraser."
},
{
"sample": "pick_eraser_place_right_box_episode_11",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_11.hdf5",
"verdict": "fail",
"onset": 2.990786,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper approached the eraser with its orientation misaligned with the eraser, causing a misalignment during grasp initiation.\nResult: the gripper failed to securely grasp the eraser",
"avoidance": "Rotate the left gripper c"
},
{
"sample": "pick_eraser_place_right_box_episode_12",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_12.hdf5",
"verdict": "fail",
"onset": 2.7370324999999998,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper approached the eraser offset slightly to the right and slightly forward with its orientation misaligned relative to the eraser\nResult: the gripper missed the eraser and moved into the box empty-handed.",
"avoidance": "Move the left gripper to the left slightly and backward slightly, and rotate the left gripper counterclockwise."
},
{
"sample": "pick_eraser_place_right_box_episode_15",
"task_id": "pick_eraser_place_right_box",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_eraser_place_right_box/episode_15.hdf5",
"verdict": "fail",
"onset": 2.197241,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper failed to open before aligning with the eraser.\nResult: gripper could not grasp and secure the erase",
"avoidance": "Open the left gripper before alignment."
},
{
"sample": "pick_green_cube_put_basket_episode_0",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_green_cube_put_basket_episode_1",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_green_cube_put_basket_episode_2",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_green_cube_put_basket_episode_4",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_4.hdf5",
"verdict": "fail",
"onset": 2.594526,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the green cube.\nObservation: The left gripper incorrectly targeted and grasped the orange duck instead of the green cube.\nResult: The left gripper failed to align with and grasp the green cube.",
"avoidance": "The left gripper needs to grasp the green cube."
},
{
"sample": "pick_green_cube_put_basket_episode_5",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_5.hdf5",
"verdict": "fail",
"onset": 5.763684,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the woven basket.\nObservation: the left gripper placed the green cube instead of in the woven basket\nResult: the left gripper failed to align the wrong object on the plate",
"avoidance": "The left gripper aligns with the woven basket while moving."
},
{
"sample": "pick_green_cube_put_basket_episode_6",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_6.hdf5",
"verdict": "fail",
"onset": 5.753684,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the woven basket.\nObservation: The left gripper placed the green cube on the blue plate instead of the woven basket.\nResult: The left gripper failed to place the green cube into the woven basket.",
"avoidance": "The left gripper needs to place the green cube into the woven basket."
},
{
"sample": "pick_green_cube_put_basket_episode_13",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_13.hdf5",
"verdict": "fail",
"onset": 5.596578,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green cube.\nObservation: the left gripper failed to close sufficiently to grasp the green cube\nResult: the left gripper failed to grasp the green cube",
"avoidance": "Close the left gripper sufficiently to secure the green cube."
},
{
"sample": "pick_green_cube_put_basket_episode_15",
"task_id": "pick_green_cube_put_basket",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_green_cube_put_basket/episode_15.hdf5",
"verdict": "fail",
"onset": 4.345473,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green cube.\nObservation: The left gripper failed to maintain a secure grasp on the green cube during the lift phase.\nResult: The left gripper failed to place the green cube into the basket.",
"avoidance": "Close the left gripper while moving."
},
{
"sample": "pick_marker_draw_cross_ep1_episode_1",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_2",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_3",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_4",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_6",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_7",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_9",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_10",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_11",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_12",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_13",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_14",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_16",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_17",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_18",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_19",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_20",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_21",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_22",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_23",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_24",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_cross_ep1_episode_155",
"task_id": "pick_marker_draw_cross_ep1",
"episode": "episode_155",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_cross_ep1/episode_155.hdf5",
"verdict": "fail",
"onset": 13.14021,
"type": [
"translation_error",
"wrong_placement",
"avoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the green cup.\nObservation: The human hand moved the cup forward, interfering with the right gripper's realignment with the green cup, resulting in the marker being released significantly backward.\nResult: The right gripper failed to release the marker into the green cup.",
"avoidance": "Move the right gripper forward significantly to realign with the cup."
},
{
"sample": "pick_marker_draw_line_episode_0",
"task_id": "pick_marker_draw_line",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_line_episode_1",
"task_id": "pick_marker_draw_line",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_line_episode_2",
"task_id": "pick_marker_draw_line",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_draw_line_episode_3",
"task_id": "pick_marker_draw_line",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_3.hdf5",
"verdict": "fail",
"onset": 4.613462,
"type": [
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the table surface.\nObservation: the left gripper released the marker back into the cup without performing the drawing sequence\nResult: the line drawing task is not executed",
"avoidance": "Move the left arm to align with the table surface."
},
{
"sample": "pick_marker_draw_line_episode_4",
"task_id": "pick_marker_draw_line",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_4.hdf5",
"verdict": "fail",
"onset": 2.22571,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: the right arm erroneously initiated the approach to and attempted to grasp the marker while the left arm is still\nResult: the left arm failed to approach and grasp the marker in the cup",
"avoidance": "Move the left arm instead of the right to approach and align with the marker in the cup."
},
{
"sample": "pick_marker_draw_line_episode_5",
"task_id": "pick_marker_draw_line",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_5.hdf5",
"verdict": "fail",
"onset": 4.313263,
"type": [
"wrong_sequence"
],
"reason": "Expected: Draw a line on the table.\nObservation: The marker tip did not touch the table surface, and the left gripper did not draw a line on the table, and then it moved back to the cup.\nResult: The left gripper failed to draw a line on the table.",
"avoidance": "Move the left arm to align with the table surface."
},
{
"sample": "pick_marker_draw_line_episode_6",
"task_id": "pick_marker_draw_line",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_6.hdf5",
"verdict": "fail",
"onset": 1.924976,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: The right arm erroneously initiated the approach to and attempted to grasp the marker, instead of the left arm.\nResult: The left arm did not move and did not grasp the marker from the cup.",
"avoidance": "The correct arm, the left arm, must approach and align with the marker in the cup."
},
{
"sample": "pick_marker_draw_line_episode_13",
"task_id": "pick_marker_draw_line",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_13.hdf5",
"verdict": "fail",
"onset": 4.13079,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker from the cup.\nObservation: The left gripper failed to close with sufficient force to grasp the marker before transferring.\nResult: The left gripper failed to grasp the marker from the cup.",
"avoidance": "The left gripper should close with a stronger force after grasping the marker."
},
{
"sample": "pick_marker_draw_line_episode_14",
"task_id": "pick_marker_draw_line",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_14.hdf5",
"verdict": "fail",
"onset": 3.676842,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the table surface.\nObservation: The left gripper released and dropped the marker during the transition to the drawing phase.\nResult: The left gripper failed to move the marker to draw a line on the table.",
"avoidance": "Close the left gripper tightly to secure the marker while moving."
},
{
"sample": "pick_marker_draw_line_episode_15",
"task_id": "pick_marker_draw_line",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_marker_draw_line/episode_15.hdf5",
"verdict": "fail",
"onset": 3.279996,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: The left gripper was in a closed position while aligning with the marker inside the cup.\nResult: The gripper failed to grasp the marker from the cup.",
"avoidance": "Open the gripper before moving forward to grasp the pen."
},
{
"sample": "pick_marker_place_bowl_episode_0",
"task_id": "pick_marker_place_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_place_bowl_episode_2",
"task_id": "pick_marker_place_bowl",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_2.hdf5",
"verdict": "fail",
"onset": 4.953765,
"type": [
"closing_error",
"translation_error",
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the white bowl.\nObservation: The right gripper dropped the marker on the table after grasping; the drop location is offset significantly to the right relative to the white bowl.\nResult: The marker could not be placed correctly into the white bowl.",
"avoidance": "Move the right gripper to the left to significantly align with the white bowl, then drop the marker."
},
{
"sample": "pick_marker_place_bowl_episode_3",
"task_id": "pick_marker_place_bowl",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_3.hdf5",
"verdict": "fail",
"onset": 1.792421,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper incorrectly selected and manipulated the fork instead of the marker.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Move the right arm to approach and align the marker instead of the fork."
},
{
"sample": "pick_marker_place_bowl_episode_4",
"task_id": "pick_marker_place_bowl",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_4.hdf5",
"verdict": "fail",
"onset": 3.108051,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker with its orientation misaligned relative to the marker.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Rotate the right gripper clockwise before grasping."
},
{
"sample": "pick_marker_place_bowl_episode_6",
"task_id": "pick_marker_place_bowl",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_6.hdf5",
"verdict": "fail",
"onset": 3.921263,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker.\nObservation: the right gripper failed to close sufficiently to grasp the marker\nResult: the right gripper failed to grasp the marker",
"avoidance": "Close the right gripper sufficiently to grasp the marker."
},
{
"sample": "pick_marker_place_bowl_episode_7",
"task_id": "pick_marker_place_bowl",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_7.hdf5",
"verdict": "fail",
"onset": 2.226833,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached and aligned the marker offset significantly backward.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Move the right gripper significantly forward."
},
{
"sample": "pick_marker_place_bowl_episode_10",
"task_id": "pick_marker_place_bowl",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_10.hdf5",
"verdict": "fail",
"onset": 3.218979,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker offset slightly to the right with its orientation misaligned, preventing a stable grasp\nResult: The marker was not grasped.",
"avoidance": "Move the right gripper to the left slightly, and rotate the right gripper clockwise."
},
{
"sample": "pick_marker_place_bowl_episode_11",
"task_id": "pick_marker_place_bowl",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_11.hdf5",
"verdict": "fail",
"onset": 2.763806,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: he right gripper approached the marker with its orientation misaligned relative to the marker grasp axis\nResult: marker was not secured and remained on the table.",
"avoidance": "Rotate the right gripper to align with the marker grasp axis"
},
{
"sample": "pick_marker_place_bowl_episode_12",
"task_id": "pick_marker_place_bowl",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_12.hdf5",
"verdict": "fail",
"onset": 2.464105,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker offset significantly to the right with its orientation misaligned relative to the marker, misaligning its grasp axis relative to the marker’s orientation.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Move the right gripper significantly to the left and rotate it counterclockwise."
},
{
"sample": "pick_marker_place_bowl_episode_14",
"task_id": "pick_marker_place_bowl",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_bowl/episode_14.hdf5",
"verdict": "fail",
"onset": 3.629787,
"type": [
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker, offset slightly to the left and significantly forward.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Move the right gripper slightly to the right and significantly backward before grasping."
},
{
"sample": "pick_marker_place_cup_episode_0",
"task_id": "pick_marker_place_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_place_cup_episode_1",
"task_id": "pick_marker_place_cup",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_place_cup_episode_2",
"task_id": "pick_marker_place_cup",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_place_cup_episode_3",
"task_id": "pick_marker_place_cup",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_3.hdf5",
"verdict": "fail",
"onset": 5.874526,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the purple cup.\nObservation: The left gripper misaligned with the marker with the target purple cup, placing it into the wrong teal cup instead.\nResult: The marker was deposited in an incorrect location.",
"avoidance": "Move the arm to align the marker with the purple cup."
},
{
"sample": "pick_marker_place_cup_episode_4",
"task_id": "pick_marker_place_cup",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_4.hdf5",
"verdict": "fail",
"onset": 1.644579,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper incorrectly approached and lifted the remote control instead of the marker during the approach phase.\nResult: the marker was not grasped and the sequence is broken",
"avoidance": "The gripper should grasp the remote instead."
},
{
"sample": "pick_marker_place_cup_episode_5",
"task_id": "pick_marker_place_cup",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_5.hdf5",
"verdict": "fail",
"onset": 4.042947,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the right gripper, instead of the planned left one, grasped the marker\nResult: the left gripper failed to approach and grasp the marker",
"avoidance": "Move the left arm instead of the right to approach and align the marker."
},
{
"sample": "pick_marker_place_cup_episode_9",
"task_id": "pick_marker_place_cup",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_9.hdf5",
"verdict": "fail",
"onset": 3.811531,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The left gripper approached the marker with its orientation misaligned relative to the marker, causing a misalignment during grasping.\nResult: The gripper failed to secure the marker, leading to task abortion.",
"avoidance": "Rotate the left gripper to align with the marker."
},
{
"sample": "pick_marker_place_cup_episode_14",
"task_id": "pick_marker_place_cup",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_14.hdf5",
"verdict": "fail",
"onset": 4.362105,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker.\nObservation: The left gripper failed to close sufficiently to grasp the marker.\nResult: The left gripper failed to grasp and move the marker.",
"avoidance": "Close the left gripper sufficiently when grasping."
},
{
"sample": "pick_marker_place_cup_episode_15",
"task_id": "pick_marker_place_cup",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_marker_place_cup/episode_15.hdf5",
"verdict": "fail",
"onset": 3.227,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the purple cup.\nObservation: The left gripper failed to close tightly, causing the marker to fall during the task.\nResult: The left gripper failed to place the marker into the purple cup.",
"avoidance": "Close the left gripper while moving"
},
{
"sample": "pick_marker_transfer_place_cup_episode_0",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_cup_episode_1",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_cup_episode_2",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_cup_episode_3",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_3.hdf5",
"verdict": "fail",
"onset": 5.266317,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the right arm with the left arm.\nObservation: the right arm bypassed the planned handover to the left arm and directly placed the marker in the cup, violating the execution order\nResult: the left arm remained idle and the task plan is violated",
"avoidance": "Aligning the two arms to transfer the marker from the right to the left instead of dropping it directly into the cup with the right arm"
},
{
"sample": "pick_marker_transfer_place_cup_episode_5",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_5.hdf5",
"verdict": "fail",
"onset": 2.293678,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm erroneously initiated the approach to and attempted to grasp the marker, instead of the designated right arm.\nResult: The wrong arm was mobilized, leading to an aborted grasp and a complete breakdown of the planned handover sequence.",
"avoidance": "Use the right arm to grasp the marker."
},
{
"sample": "pick_marker_transfer_place_cup_episode_6",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_6.hdf5",
"verdict": "fail",
"onset": 2.267894,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm erroneously initiated the approach to and attempted to grasp the marker, instead of the designated right arm.\nResult: Used the wrong arm; used the left arm, not the right arm, to grasp the marker.",
"avoidance": "needs to use the right arm to grasp the marker"
},
{
"sample": "pick_marker_transfer_place_cup_episode_11",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_11.hdf5",
"verdict": "fail",
"onset": 2.598095,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker offset slightly to the right and slightly forward with its orientation anti-clockwise to the marker.\nResult: the marker was not grasped by the right gripper.",
"avoidance": "The right gripper moved slightly left and slightly downward, and rotated to be clockwise to the marker before grasping."
},
{
"sample": "pick_marker_transfer_place_cup_episode_12",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_12.hdf5",
"verdict": "fail",
"onset": 7.264736,
"type": [
"translation_error"
],
"reason": "Expected: Align the right arm with the left arm.\nObservation: The left gripper was positioned significantly offset to the left.\nResult: the left gripper could not securely grasp the marker.",
"avoidance": "Move the left gripper significantly to the right"
},
{
"sample": "pick_marker_transfer_place_cup_episode_14",
"task_id": "pick_marker_transfer_place_cup",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_cup/episode_14.hdf5",
"verdict": "fail",
"onset": 5.865628,
"type": [
"open_error"
],
"reason": "Expected: Transfer the marker from the right arm to the left arm.\nObservation: After the left gripper successfully grasped the marker during the handover, the right gripper failed to release the marker.\nResult: The right arm failed to transfer the marker to the left arm, leaving the marker in the right arm.",
"avoidance": "Release the right gripper to hand over the marker to the left arm."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_0",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_1",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_2",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_3",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_4",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_5",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_6",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_7",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_8",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_9",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_10",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_11",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_12",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_13",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_14",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_15",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_16",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_17",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_18",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_19",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_20",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_21",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_22",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_23",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_24",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_29",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_29.hdf5",
"verdict": "fail",
"onset": 8.92,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and the right arm.\nObservation: The right arm was still after the left arm picked it up to transfer; also, the left arm didn't move to the right to prepare for the right arm grasping.\nResult: The right gripper failed to grasp the marker from the left arm.",
"avoidance": "Move the left arm to the right and the right arm to the left to align and transfer the marker."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_32",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_32",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_32.hdf5",
"verdict": "fail",
"onset": 3.388198,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the right gripper incorrectly attempted to grasp the marker before the left gripper had secured it\nResult: the right gripper, not the left gripper, grasped the marker, leading to the task failing",
"avoidance": "needs to use the left gripper to grasp the marker"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_37",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_37",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_37.hdf5",
"verdict": "fail",
"onset": 4.674593,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and the right arm.\nObservation: the left arm moved the marker directly toward the plate without first aligning with the right arm for transfer, violating the planned sequence\nResult: The right arm is unable to receive the marker, violating the task plan",
"avoidance": "Align the left arm and the right arm for transferring instead of dropping the marker into the plate."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_38",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_38",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_38.hdf5",
"verdict": "fail",
"onset": 5.29927,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and the right arm.\nObservation: The left arm moved the marker directly toward the plate without first aligning with the right arm for transfer.\nResult: The left gripper failed to transfer to the right arm, and the right arm was unable to receive the object.",
"avoidance": "Transfer the marker from the left arm to the right arm instead of placing it to the plate."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_41",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_41",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_41.hdf5",
"verdict": "fail",
"onset": 4.5639485,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and the right arm.\nObservation: The left arm moved the marker directly toward the plate instead of transferring it to the right arm.\nResult: The right gripper failed to get the marker from the left gripper.",
"avoidance": "The left gripper should move the marker to a position where the right arm can align with it, instead of dropping it into the plate."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_44",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_44",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_44.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_149",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_149",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_149.hdf5",
"verdict": "fail",
"onset": 4.668631,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker was taken away by a human, which prevented the left gripper from grasping it.\nResult: The left gripper failed to grasp the red marker.",
"avoidance": "This is unavoidable; the red marker was taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_150",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_150",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_150.hdf5",
"verdict": "fail",
"onset": 6.76,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the red marker has been taken away by human hand, which prevents the left gripper from aligning with it\nResult: the left gripper failed to grasp the marker",
"avoidance": "This is unavoidable; the target object has been taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_151",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_151",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_151.hdf5",
"verdict": "fail",
"onset": 3.358105,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the red marker has been taken away by a human, which prevents the left gripper from aligning with it.\nResult: the left gripper failed to grasp the marker.",
"avoidance": "This is unavoidable; the target object has been taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_152",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_152",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_152.hdf5",
"verdict": "fail",
"onset": 4.040314,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker has been taken away by a human, which prevents the left gripper from aligning with it.\nResult: The left gripper failed to grasp the marker.",
"avoidance": "This is unavoidable; the target object has been taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_153",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_153",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_153.hdf5",
"verdict": "fail",
"onset": 2.794,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the marker.",
"avoidance": "This is unavoidable; the red marker has been taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_154",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_154",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_154.hdf5",
"verdict": "fail",
"onset": 11.609368,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate has been taken away by a human, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the plate.",
"avoidance": "This is unavoidable; the green plate has been taken away by a human."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_155",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_155",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_155.hdf5",
"verdict": "fail",
"onset": 9.6,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate is occluded by a book, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.",
"avoidance": "This is unavoidable; the green plate is occluded by a book."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_157",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_157",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_157.hdf5",
"verdict": "fail",
"onset": 8.96,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate has been occluded by a human, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.",
"avoidance": "This is unavoidable; the green plate is occluded."
},
{
"sample": "pick_marker_transfer_place_plate_ep1_episode_158",
"task_id": "pick_marker_transfer_place_plate_ep1",
"episode": "episode_158",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_158.hdf5",
"verdict": "fail",
"onset": 7.92,
"type": [
"unavoidable_intervention"
],
"reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate is occluded by a book, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.",
"avoidance": "This is unavoidable; the green plate is occluded by a book."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_17",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_17.hdf5",
"verdict": "fail",
"onset": 2.227263,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the left and upward.\nResult: the gripper failed to grasp the marker.",
"avoidance": "Move the left gripper to the right and downward slightly."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_20",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_20.hdf5",
"verdict": "fail",
"onset": 9.13387,
"type": [
"closing_error",
"translation_error"
],
"reason": "Expected: Move the left arm to a position for transferring the marker to the right arm.\nObservation: The right gripper aligned slightly downward, causing it to grasp the left gripper instead of the marker during grasping, which caused the marker to be ejected.\nResult: The right gripper failed to align with the left arm to grasp the marker in the transferring phase.",
"avoidance": "Move the right arm slightly upward to target the marker before grasping."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_27",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_27",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_27.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_29",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_29.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_30",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_30.hdf5",
"verdict": "success"
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_31",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_31",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_31.hdf5",
"verdict": "fail",
"onset": 3.67999,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the marker with the left arm.\nObservation: the left gripper failed to close sufficiently to secure the marker during the grasping phase.\nResult: the left gripper failed to grasp and transfer the marker to the right arm.",
"avoidance": "Close the left gripper tightly to secure the marker when grasping."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_36",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_36.hdf5",
"verdict": "fail",
"onset": 3.3919915,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the left and slightly backward.\nResult: the left gripper failed to grasp the marker.",
"avoidance": "Move the left gripper slightly to the right and forward."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_38",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_38",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_38.hdf5",
"verdict": "fail",
"onset": 3.467208,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the right, forward, and upward\nResult: the left gripper failed to grasp the marker.",
"avoidance": "Move the left arm to the left, backward and downward slightly."
},
{
"sample": "pick_marker_transfer_place_plate_ep2_episode_40",
"task_id": "pick_marker_transfer_place_plate_ep2",
"episode": "episode_40",
"robot": "agilex",
"hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_40.hdf5",
"verdict": "fail",
"onset": 2.175282,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The left gripper approached the marker offset significantly to the left, failing to center over the object.\nResult: The grasp attempt was imprecise, leading to a failed pickup.",
"avoidance": "Move the left gripper significantly to the right."
},
{
"sample": "pick_mouse_basket_episode_0",
"task_id": "pick_mouse_basket",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_mouse_basket_episode_1",
"task_id": "pick_mouse_basket",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_mouse_basket_episode_2",
"task_id": "pick_mouse_basket",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_mouse_basket_episode_3",
"task_id": "pick_mouse_basket",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_3.hdf5",
"verdict": "fail",
"onset": 1.778736,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The right arm incorrectly targeted and moved the black rectangular object instead of the mouse.\nResult: The right arm failed to target the mouse on the tray.",
"avoidance": "Move the right arm to align with the mouse on the tray instead of the black rectangular object."
},
{
"sample": "pick_mouse_basket_episode_4",
"task_id": "pick_mouse_basket",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_4.hdf5",
"verdict": "fail",
"onset": 2.488421,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The left gripper was incorrectly activated to grasp the mouse, instead of the right gripper as planned.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to grasp the mouse.",
"avoidance": "Use the right gripper to grasp the mouse."
},
{
"sample": "pick_mouse_basket_episode_5",
"task_id": "pick_mouse_basket",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_5.hdf5",
"verdict": "fail",
"onset": 2.368263,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: the right gripper incorrectly targeted and picked up the black rectangular object instead of the mouse.\nResult: the mouse remained on the plate while the wrong object was placed in the basket.",
"avoidance": "Move the right arm to align with the mouse on the tray."
},
{
"sample": "pick_mouse_basket_episode_6",
"task_id": "pick_mouse_basket",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_6.hdf5",
"verdict": "fail",
"onset": 1.688417,
"type": [
"wrong_gripper",
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The left gripper was incorrectly activated to grasp the blackboard eraser, instead of using the right gripper to grasp the mouse as planned.\nResult: Used the wrong gripper to grasp the wrong object; used the left gripper to grasp the blackboard eraser, instead of using the right gripper to grasp the mouse.",
"avoidance": "Needs to use the right gripper to grasp the mouse."
},
{
"sample": "pick_mouse_basket_episode_14",
"task_id": "pick_mouse_basket",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_14.hdf5",
"verdict": "fail",
"onset": 2.6570115,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the basket.\nObservation: the right gripper unexpectedly opened while transporting the mouse towards the basket , dropping the mouse.\nResult: the gripper is not able to place the mouse in the basket",
"avoidance": "Close the right gripper tightly"
},
{
"sample": "pick_mouse_basket_episode_15",
"task_id": "pick_mouse_basket",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_mouse_basket/episode_15.hdf5",
"verdict": "fail",
"onset": 4.073684,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: the right gripper failed to open before grasping the mouse.\nResult: the right gripper failed to grasp the mouse",
"avoidance": "Open the right gripper before grasping."
},
{
"sample": "pick_object_place_left_box_ep1_episode_0",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_1",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_3",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_4",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_5",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_6",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_7",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_8",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_9",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_10",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_11",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_12",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_13",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_14",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_15",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_16",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_17",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_18",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_19",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_20",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_21",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_22",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_23",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_object_place_left_box_ep1_episode_24",
"task_id": "pick_object_place_left_box_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_object_place_left_box_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_into_microwave_episode_31",
"task_id": "pick_orange_block_place_into_microwave",
"episode": "episode_31",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_into_microwave/episode_31.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_into_microwave_episode_114",
"task_id": "pick_orange_block_place_into_microwave",
"episode": "episode_114",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_into_microwave/episode_114.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_pot_episode_0",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_pot_episode_1",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_pot_episode_2",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_orange_block_place_pot_episode_8",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_8.hdf5",
"verdict": "fail",
"onset": 2.836723,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: the left gripper is offset significantly to the right and forward relative to the orange block\nResult: the left gripper failed to grasp the orange block",
"avoidance": "Move the left gripper to the left and backward significantly."
},
{
"sample": "pick_orange_block_place_pot_episode_10",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_10.hdf5",
"verdict": "fail",
"onset": 2.517894,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: the left gripper is slightly offset upward relative to the orange block.\nResult: the left gripper failed to grasp the orange block.",
"avoidance": "Move the left gripper slightly downward."
},
{
"sample": "pick_orange_block_place_pot_episode_12",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_12.hdf5",
"verdict": "fail",
"onset": 3.191052,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: The left gripper is offset significantly to the left and forward relative to the orange block.\nResult: The left gripper failed to grasp and move the orange block.",
"avoidance": "Move the left gripper significantly to the right and backward."
},
{
"sample": "pick_orange_block_place_pot_episode_13",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_13.hdf5",
"verdict": "fail",
"onset": 2.199856,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the orange block.\nObservation: the left gripper did not close sufficiently to grasp the orange block.\nResult: The left gripper failed to grasp and transfer it to the pot.",
"avoidance": "The left gripper should close tightly to grasp the orange block."
},
{
"sample": "pick_orange_block_place_pot_episode_14",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 3.806052,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the pot.\nObservation: the left gripper did not hold the orange cube tightly during movement, causing it to fall onto the table\nResult: the gripper failed to place the orange cube into the red pot",
"avoidance": "Close the left gripper while moving"
},
{
"sample": "pick_orange_block_place_pot_episode_15",
"task_id": "pick_orange_block_place_pot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_orange_block_place_pot/episode_15.hdf5",
"verdict": "fail",
"onset": 4.780684,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the orange block into the pot.\nObservation: the left gripper hovers above the pot without releasing to place the orange block into the pot\nResult: the left gripper failed to release the orange block into the pot",
"avoidance": "Open the left gripper to release the orange block."
},
{
"sample": "pick_pepsi_place_bowl_episode_0",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_pepsi_place_bowl_episode_1",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_pepsi_place_bowl_episode_2",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_pepsi_place_bowl_episode_3",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_3.hdf5",
"verdict": "fail",
"onset": 2.539087,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: The left arm erroneously initiated the approach and grabbed the Pepsi can, instead of the designated right arm.\nResult: The right gripper failed to grasp the Pepsi can.",
"avoidance": "Move the right arm instead of the left to approach and align with the Pepsi bottle."
},
{
"sample": "pick_pepsi_place_bowl_episode_4",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_4.hdf5",
"verdict": "fail",
"onset": 2.424999,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: The right gripper grasped the red cube instead of the Pepsi can.\nResult: The right gripper did not place the Pepsi can in the bowl.",
"avoidance": "The right gripper needs to grasp the Pepsi can."
},
{
"sample": "pick_pepsi_place_bowl_episode_5",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_5.hdf5",
"verdict": "fail",
"onset": 4.852634,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: the right arm misplanned the placement target, depositing the can into the green cup instead of the blue bowl\nResult: the can was misplaced into the green cup",
"avoidance": "Move the right arm to align with the blue bowl instead of the green cup."
},
{
"sample": "pick_pepsi_place_bowl_episode_6",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_6.hdf5",
"verdict": "fail",
"onset": 1.999998,
"type": [
"wrong_gripper",
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: the left arm approached and aligned with the red cube, using the wrong arm and targeting the wrong object.\nResult: the right arm failed to grasp the Pepsi bottle.",
"avoidance": "Move the right arm to approach and align with the Pepsi bottle, instead of the left arm to the red cube."
},
{
"sample": "pick_pepsi_place_bowl_episode_13",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_13.hdf5",
"verdict": "fail",
"onset": 4.077186,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the Pepsi bottle.\nObservation: The right gripper failed to close sufficiently to grasp the Pepsi can.\nResult: The can was not secured and remained on the table.",
"avoidance": "Close the right gripper tightly."
},
{
"sample": "pick_pepsi_place_bowl_episode_15",
"task_id": "pick_pepsi_place_bowl",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_place_bowl/episode_15.hdf5",
"verdict": "fail",
"onset": 4.378421,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the Pepsi bottle upright in the blue bowl.\nObservation: The right gripper did not fully open to release the Pepsi can during placement in the bowl.\nResult: The right gripper failed to place the Pepsi can in the blue bowl.",
"avoidance": "Open the right gripper to release the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_26",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_26",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_26.hdf5",
"verdict": "fail",
"onset": 2.578947,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper instead of the planned left gripper grasped the Pepsi can\nResult: the left gripper failed to approach and align with the Pepsi can",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_28",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_28",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_28.hdf5",
"verdict": "fail",
"onset": 2.7116155,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper, instead of the planned left gripper, grasped the Pepsi can.\nResult: the left arm failed to grasp the Pepsi can.",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_30",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_30.hdf5",
"verdict": "fail",
"onset": 3.497684,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper, not the left, was used to approach and grasp the Pepsi can.\nResult: the left gripper failed to approach and grasp the Pepsi can.",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_32",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_32",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_32.hdf5",
"verdict": "fail",
"onset": 3.4293329999999997,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper approached and grasped the Pepsi can, while the left arm is still\nResult: the left arm failed to approach and grasp the Pepsi can",
"avoidance": "Move the left arm to approach and align with the Pepsi can first."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_34",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_34",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_34.hdf5",
"verdict": "fail",
"onset": 4.021186,
"type": [
"wrong_gripper",
"wrong_sequence"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right arm grabbed the Pepsi can first instead of the left arm, which was the wrong order.\nResult: the task plan is violated, and the pepsi could not be transferred",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_36",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_36",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_36.hdf5",
"verdict": "fail",
"onset": 3.518735,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right arm grabbed the Pepsi can while the left arm is still\nResult: the left arm failed to approach and grasp the Pepsi can",
"avoidance": "Move the left arm instead of the right arm to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_38",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_38",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_38.hdf5",
"verdict": "fail",
"onset": 2.630526,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, approached and grasped the Pepsi can.\nResult: The left arm failed to approach and grasp the Pepsi can.",
"avoidance": "Move the left arm instead of the right arm to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_41",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_41",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_41.hdf5",
"verdict": "fail",
"onset": 3.675789,
"type": [
"wrong_gripper",
"wrong_sequence"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, grabbed the Pepsi can.\nResult: The left arm failed to approach and grab the Pepsi can.",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_pepsi_transfer_place_plate_ep1_episode_42",
"task_id": "pick_pepsi_transfer_place_plate_ep1",
"episode": "episode_42",
"robot": "agilex",
"hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_42.hdf5",
"verdict": "fail",
"onset": 3.584524,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, grabbed the Pepsi can, and the left arm is still.\nResult: The left arm failed to approach and align with the Pepsi can.",
"avoidance": "Move the left arm instead of the right to approach and align the Pepsi can."
},
{
"sample": "pick_place_chem_ep1_episode_63",
"task_id": "pick_place_chem_ep1",
"episode": "episode_63",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_63.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_64",
"task_id": "pick_place_chem_ep1",
"episode": "episode_64",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_64.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_65",
"task_id": "pick_place_chem_ep1",
"episode": "episode_65",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_65.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_92",
"task_id": "pick_place_chem_ep1",
"episode": "episode_92",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_92.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_93",
"task_id": "pick_place_chem_ep1",
"episode": "episode_93",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_93.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_139",
"task_id": "pick_place_chem_ep1",
"episode": "episode_139",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_139.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_177",
"task_id": "pick_place_chem_ep1",
"episode": "episode_177",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_177.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_207",
"task_id": "pick_place_chem_ep1",
"episode": "episode_207",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_207.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_208",
"task_id": "pick_place_chem_ep1",
"episode": "episode_208",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_208.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep1_episode_209",
"task_id": "pick_place_chem_ep1",
"episode": "episode_209",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep1/episode_209.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep2_episode_31",
"task_id": "pick_place_chem_ep2",
"episode": "episode_31",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep2/episode_31.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep2_episode_48",
"task_id": "pick_place_chem_ep2",
"episode": "episode_48",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep2/episode_48.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep2_episode_74",
"task_id": "pick_place_chem_ep2",
"episode": "episode_74",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep2/episode_74.hdf5",
"verdict": "success"
},
{
"sample": "pick_place_chem_ep2_episode_159",
"task_id": "pick_place_chem_ep2",
"episode": "episode_159",
"robot": "agilex",
"hdf5": "episodes/pick_place_chem_ep2/episode_159.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_2",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_3",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_4",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_5",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_6",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_7",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_8",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_9",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_13",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_14",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_15",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_17",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_18",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_19",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_20",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_21",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_22",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_23",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_24",
"task_id": "pick_plate_from_drawer_put_pink_cube_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pick_red_marker_place_tray_episode_0",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_red_marker_place_tray_episode_1",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_red_marker_place_tray_episode_2",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_red_marker_place_tray_episode_3",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_3.hdf5",
"verdict": "fail",
"onset": 4.459421,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the white tray.\nObservation: The right gripper placed the red marker on the blue plate instead of the white tray.\nResult: The right gripper failed to place the red marker on the white tray.",
"avoidance": "Move the right arm to align with the white tray instead of the plate."
},
{
"sample": "pick_red_marker_place_tray_episode_4",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_4.hdf5",
"verdict": "fail",
"onset": 2.112539,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the red marker.\nObservation: the right gripper selected and picked up the black pen instead of the red marker during the approach phase. \nResult: the right gripper failed to grasp the red marker.",
"avoidance": "Move the right arm to approach and align the red marker instead of the black pen."
},
{
"sample": "pick_red_marker_place_tray_episode_5",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_5.hdf5",
"verdict": "fail",
"onset": 5.610758,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the white tray.\nObservation: the right gripper placed the red marker on the blue plate instead of the white tray during alignment\nResult: The marker was misplaced into the wrong place",
"avoidance": "Move the right arm to align with the white tray instead of the blue plate."
},
{
"sample": "pick_red_marker_place_tray_episode_6",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_6.hdf5",
"verdict": "fail",
"onset": 1.498,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the red marker.\nObservation: The right gripper incorrectly selected and manipulated the orange object instead of the red marker.\nResult: The right gripper failed to grasp the marker.",
"avoidance": "Move the right arm to approach and align the red marker instead of the orange object."
},
{
"sample": "pick_red_marker_place_tray_episode_13",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_13.hdf5",
"verdict": "fail",
"onset": 4.194472,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the red marker.\nObservation: The right gripper failed to close with sufficient force to grasp the red marker.\nResult: The right gripper failed to grasp and lift the red marker.",
"avoidance": "Close the right gripper before lifting."
},
{
"sample": "pick_red_marker_place_tray_episode_15",
"task_id": "pick_red_marker_place_tray",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_red_marker_place_tray/episode_15.hdf5",
"verdict": "fail",
"onset": 6.673421,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the red marker into the white tray.\nObservation: The right gripper failed to open and release the red marker.\nResult: The right gripper failed to place the marker on the white plate.",
"avoidance": "Open the right gripper to release"
},
{
"sample": "pick_remote_controller_transfer_board_episode_0",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_remote_controller_transfer_board_episode_1",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_remote_controller_transfer_board_episode_2",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_remote_controller_transfer_board_episode_3",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_3.hdf5",
"verdict": "fail",
"onset": 3.815724,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and right arm to a position ready to receive the remote controller.\nObservation: The right arm moved the remote directly toward the chopping board without first aligning with the left arm for transfer.\nResult: The left arm was never positioned to receive the object, causing the transfer to be skipped.",
"avoidance": "Align the left arm and right arm to a position ready to receive the remote controller."
},
{
"sample": "pick_remote_controller_transfer_board_episode_4",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_4.hdf5",
"verdict": "fail",
"onset": 2.4379730000000004,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the remote controller.\nObservation: The left arm erroneously initiated the approach to the remote controller, instead of the designated right arm.\nResult: The right arm failed to grasp the remote controller.",
"avoidance": "Move the right arm instead of the left to align with the remote controller."
},
{
"sample": "pick_remote_controller_transfer_board_episode_6",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_6.hdf5",
"verdict": "fail",
"onset": 4.311558,
"type": [
"wrong_sequence"
],
"reason": "Expected: Align the left arm and right arm to a position ready to receive the remote controller.\nObservation: The right arm placed the remote directly on the chopping board instead of transferring it to the left arm as planned.\nResult: The task plan is violated. The left gripper failed to receive the remote controller from the right arm.",
"avoidance": "Align the left and right arms to a position ready to transfer the remote controller."
},
{
"sample": "pick_remote_controller_transfer_board_episode_10",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_10.hdf5",
"verdict": "fail",
"onset": 2.609765,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the remote controller.\nObservation: the right gripper approached the remote controller with its orientation misaligned relative to the remote controller\nResult: The right gripper fails to grasp the remote controller",
"avoidance": "Rotate the right gripper"
},
{
"sample": "pick_remote_controller_transfer_board_episode_14",
"task_id": "pick_remote_controller_transfer_board",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_remote_controller_transfer_board/episode_14.hdf5",
"verdict": "fail",
"onset": 2.069788,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to align with the remote controller.\nObservation: The right gripper failed to open (transition to the open state) after aligning with the remote controller.\nResult: The right gripper did not grasp the remote controller.",
"avoidance": "Open the right gripper while aligning with the remote controller."
},
{
"sample": "pick_spoon_place_rice_cooker_episode_0",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_spoon_place_rice_cooker_episode_1",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_spoon_place_rice_cooker_episode_2",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_spoon_place_rice_cooker_episode_3",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_3.hdf5",
"verdict": "fail",
"onset": 2.039157,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper selected and picked up the green tool instead of the spoon.\nResult: The right gripper failed to select the spoon.",
"avoidance": "Move the right arm to approach and align the spoon instead of the green tool."
},
{
"sample": "pick_spoon_place_rice_cooker_episode_4",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_4.hdf5",
"verdict": "fail",
"onset": 2.752894,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper was supposed to grasp the spoon, but the left gripper moved to grasp it instead.\nResult: The right gripper failed to move and grasp the spoon.",
"avoidance": "Move the right arm instead of the left one to approach and align the spoon."
},
{
"sample": "pick_spoon_place_rice_cooker_episode_6",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_6.hdf5",
"verdict": "fail",
"onset": 2.18921,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper incorrectly selected and picked up the green object instead of the spoon.\nResult: The right gripper failed to grasp the spoon.",
"avoidance": "Move the right arm to approach and align the spoon instead of the green object."
},
{
"sample": "pick_spoon_place_rice_cooker_episode_11",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_11.hdf5",
"verdict": "fail",
"onset": 2.163641,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: the right gripper approached the spoon offset slightly to the left with its orientation misaligned relative to the spoon\nResult: the gripper could not securely grasp the spoon.",
"avoidance": "Move the right gripper to the right slightly, and rotate the right gripper"
},
{
"sample": "pick_spoon_place_rice_cooker_episode_12",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_12.hdf5",
"verdict": "fail",
"onset": 2.487684,
"type": [
"orientation_error",
"translation_error"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper approached the spoon, offset slightly to the right, with its orientation misaligned relative to the spoon.\nResult: The right gripper failed to grasp the spoon.",
"avoidance": "Move the right gripper slightly to the left and rotate it clockwise."
},
{
"sample": "pick_spoon_place_rice_cooker_episode_14",
"task_id": "pick_spoon_place_rice_cooker",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_spoon_place_rice_cooker/episode_14.hdf5",
"verdict": "fail",
"onset": 2.654,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: the right gripper did not open during the grasping subtask\nResult: the spoon remained on the table and was not placed into the rice cooker.",
"avoidance": "Open the right gripper before grasping."
},
{
"sample": "pick_test_tube_place_left_slot_episode_0",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_left_slot_episode_1",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_left_slot_episode_2",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_left_slot_episode_3",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_3.hdf5",
"verdict": "fail",
"onset": 2.995118,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: the right gripper was moved to approach and align with the test tube, instead of the designated left gripper.\nResult: the left gripper failed to grasp the test cube, causing a task plan violation.",
"avoidance": "The left gripper should move to grasp the test tube."
},
{
"sample": "pick_test_tube_place_left_slot_episode_4",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_4.hdf5",
"verdict": "fail",
"onset": 2.937103,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: The left gripper incorrectly targeted the pen instead of the test tube during the approach phase.\nResult: The robot grasped and misplaced the pen into the rack.",
"avoidance": "Move the left arm to approach and align with the test tube instead of the pen."
},
{
"sample": "pick_test_tube_place_left_slot_episode_5",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_5.hdf5",
"verdict": "fail",
"onset": 5.255789,
"type": [
"wrong_placement",
"wrong_sequence"
],
"reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper, holding the test tube, did not align with the left empty slot on the rack and placed the test tube back in the cup.\nResult: The left gripper failed to move the test tube to the empty slot.",
"avoidance": "Move the left arm to align with the left empty slot on the rack instead of placing it back in the cup."
},
{
"sample": "pick_test_tube_place_left_slot_episode_6",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_6.hdf5",
"verdict": "fail",
"onset": 5.98251,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper misplanned its trajectory, targeting the green cup instead of the left empty slot on the rack during alignment.\nResult: the test tube was deposited in the wrong location",
"avoidance": "Move the left arm to align with the left empty slot on the rack instead of the green cup."
},
{
"sample": "pick_test_tube_place_left_slot_episode_14",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_14.hdf5",
"verdict": "fail",
"onset": 4.369736,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: The left gripper failed to open properly during the grasping phase.\nResult: The left gripper failed to grasp the test tube.",
"avoidance": "Open the left gripper to grasp"
},
{
"sample": "pick_test_tube_place_left_slot_episode_15",
"task_id": "pick_test_tube_place_left_slot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_left_slot/episode_15.hdf5",
"verdict": "fail",
"onset": 8.44,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the test tube in the left empty slot on the rack.\nObservation: the left gripper has been holding the test tube without releasing it when it was already aligned with the slot.\nResult: the left gripper failed to release the gripper to place the test tube in the left empty slot on the rack.",
"avoidance": "Release the gripper to place the test tube in the left empty slot on the rack after alignment."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_0",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_middle_slot_episode_1",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_middle_slot_episode_2",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_test_tube_place_middle_slot_episode_3",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_3.hdf5",
"verdict": "fail",
"onset": 4.338578,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left arm erroneously initiated the approach to the test tube, instead of the designated right arm.\nResult: The right gripper failed to grasp the test tube.",
"avoidance": "Move the right arm instead of the left to approach and align with the test tube."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_4",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_4.hdf5",
"verdict": "fail",
"onset": 6.481986,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the middle empty slot on the rack.\nObservation: the right gripper misaligned its trajectory, targeting the cup instead of the middle empty slot on the rack during the alignment subtask.\nResult: the test tube was not placed correctly",
"avoidance": "Move the right arm to align with the middle empty slot on the rack instead of the cup."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_5",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_5.hdf5",
"verdict": "fail",
"onset": 2.137158,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper aligned with the marker instead of the test tube during the approach phase\nResult: the marker was incorrectly grasped instead of the test tube, violating the task plan",
"avoidance": "Move the right arm to approach and align with the test tube instead of the marker."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_6",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_6.hdf5",
"verdict": "fail",
"onset": 2.768946,
"type": [
"wrong_gripper",
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left arm erroneously initiated the approach to the blue marker, instead of the designated right arm, to grasp the test tube.\nResult: The right gripper failed to grasp the test tube.",
"avoidance": "The right gripper needs to grasp the test tube."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_14",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_14.hdf5",
"verdict": "fail",
"onset": 5.804842,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper failed to open (transition to the open state) after aligning with the test tube.\nResult: The right gripper failed to grasp the test tube.",
"avoidance": "Open the right gripper before grasping."
},
{
"sample": "pick_test_tube_place_middle_slot_episode_15",
"task_id": "pick_test_tube_place_middle_slot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_test_tube_place_middle_slot/episode_15.hdf5",
"verdict": "fail",
"onset": 11.84,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the test tube in the middle empty slot.\nObservation: The right gripper failed to open to release the test tube during the placement subtask.\nResult: The right gripper failed to release the test tube in the middle empty slot.",
"avoidance": "Release the right gripper once the test tube is already in the slot."
},
{
"sample": "pick_vial_place_middle_slot_episode_0",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_middle_slot_episode_1",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_middle_slot_episode_2",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_middle_slot_episode_3",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_3.hdf5",
"verdict": "fail",
"onset": 2.9945304999999998,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: the right gripper approached and aligned to the vial, instead of the designated left gripper.\nResult: the left gripper failed to appraoch and pick up the vail",
"avoidance": "Move the left arm instead of the right to approach and align with the vial."
},
{
"sample": "pick_vial_place_middle_slot_episode_4",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_4.hdf5",
"verdict": "fail",
"onset": 7.399282,
"type": [
"translation_error",
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the middle empty slot on the rack.\nObservation: The left gripper lifted the vial and placed it in where it was lifted.\nResult: The vial was not secured in the rack, breaking the task sequence.",
"avoidance": "Place the vial in the middle empty slot on the rack instead of the left side space on the table."
},
{
"sample": "pick_vial_place_middle_slot_episode_5",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_5.hdf5",
"verdict": "fail",
"onset": 2.267913,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: The left gripper incorrectly targeted and grasped the marker instead of the vial \nResult: The vial is not grasped.",
"avoidance": "The left gripper should align with the vial instead of the marker"
},
{
"sample": "pick_vial_place_middle_slot_episode_6",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_6.hdf5",
"verdict": "fail",
"onset": 3.484842,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: The right arm erroneously initiated the approach to the vial, instead of the designated left arm.\nResult: The wrong arm was mobilized, leading to an aborted approach and a complete breakdown of the planned sequence.",
"avoidance": "Use the left arm to grasp the vial."
},
{
"sample": "pick_vial_place_middle_slot_episode_14",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_14.hdf5",
"verdict": "fail",
"onset": 3.121631,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the middle empty slot on the rack.\nObservation: the left gripper released and slipped the vial while moving towards the rack\nResult: the left gripper failed to move the vial to the rack",
"avoidance": "Close the left gripper tightly while moving the vial."
},
{
"sample": "pick_vial_place_middle_slot_episode_15",
"task_id": "pick_vial_place_middle_slot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_middle_slot/episode_15.hdf5",
"verdict": "fail",
"onset": 8.16,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the vial in the middle empty slot.\nObservation: the left gripper failed to open to release the vial\nResult: the left gripper failed to release the vial",
"avoidance": "Open the left gripper to release"
},
{
"sample": "pick_vial_place_right_slot_episode_0",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_right_slot_episode_1",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_right_slot_episode_2",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pick_vial_place_right_slot_episode_3",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_3.hdf5",
"verdict": "fail",
"onset": 2.223999,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The left gripper was extended instead of the right gripper, causing a misalignment during the grasp attempt.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to grasp the vial.",
"avoidance": "Needs to use the right gripper to grasp the vial."
},
{
"sample": "pick_vial_place_right_slot_episode_4",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_4.hdf5",
"verdict": "fail",
"onset": 2.613052,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The right gripper approached and attempted to grasp the pen instead of the vial.\nResult: The right gripper failed to grasp the vial.",
"avoidance": "Move the right arm to approach and align with the vial instead of the pen."
},
{
"sample": "pick_vial_place_right_slot_episode_6",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_6.hdf5",
"verdict": "fail",
"onset": 2.328157,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The right gripper incorrectly targeted the pen instead of the vial.\nResult: The right gripper picked up the pen.",
"avoidance": "The right gripper needs to pick up the vial."
},
{
"sample": "pick_vial_place_right_slot_episode_13",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_13.hdf5",
"verdict": "fail",
"onset": 3.791999,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the vial.\nObservation: The right gripper failed to close sufficiently to grasp the vial.\nResult: The right gripper failed to grasp and move the vial to the rack.",
"avoidance": "Close the right gripper tightly when grasping the vial."
},
{
"sample": "pick_vial_place_right_slot_episode_14",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_14.hdf5",
"verdict": "fail",
"onset": 2.973638,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: the right gripper slipped the vial while moving to the empty slot on the rack.\nResult: the right gripper failed to move and place the vial to the empty slot on the rack.",
"avoidance": "Close the right gripper tightly while moving"
},
{
"sample": "pick_vial_place_right_slot_episode_15",
"task_id": "pick_vial_place_right_slot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pick_vial_place_right_slot/episode_15.hdf5",
"verdict": "fail",
"onset": 6.88,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the vial in the right empty slot on the rack.\nObservation: The right gripper failed to open fully to release the vial during placement.\nResult: The right gripper failed to release the vial.",
"avoidance": "Open the right gripper to release"
},
{
"sample": "place_block_into_drawer_episode_4",
"task_id": "place_block_into_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_block_into_drawer/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "place_cube_pot_lid_episode_0",
"task_id": "place_cube_pot_lid",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_cube_pot_lid_episode_1",
"task_id": "place_cube_pot_lid",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_cube_pot_lid_episode_2",
"task_id": "place_cube_pot_lid",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_cube_pot_lid_episode_3",
"task_id": "place_cube_pot_lid",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_3.hdf5",
"verdict": "fail",
"onset": 2.099842,
"type": [
"wrong_sequence",
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The right gripper is incorrectly targeting the pot lid instead of the blue cube first.\nResult: The right gripper failed to approach and grasp the blue cube.",
"avoidance": "Move the right gripper to approach and grasp the blue cube first before targeting the lid."
},
{
"sample": "place_cube_pot_lid_episode_4",
"task_id": "place_cube_pot_lid",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_4.hdf5",
"verdict": "fail",
"onset": 1.883052,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The left gripper attempted to grasp the blue cube instead of the planned right gripper.\nResult: The right gripper failed to approach and grasp the blue cube.",
"avoidance": "Move the right arm instead of left arm to align with the blue cube."
},
{
"sample": "place_cube_pot_lid_episode_6",
"task_id": "place_cube_pot_lid",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_6.hdf5",
"verdict": "fail",
"onset": 2.979473,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The left gripper attempted to grasp the blue cube instead of the right gripper.\nResult: The right gripper failed to approach and grasp the blue cube.",
"avoidance": "Move the right arm instead of the left to align with the blue cube."
},
{
"sample": "place_cube_pot_lid_episode_12",
"task_id": "place_cube_pot_lid",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_12.hdf5",
"verdict": "fail",
"onset": 9.8675225,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to align with the lid.\nObservation: The right gripper approached the lid with its orientation misaligned relative to the lid handle, causing a collision with the handle.\nResult: The right gripper failed to grasp and move the lid.",
"avoidance": "Rotate the right gripper clockwise."
},
{
"sample": "place_cube_pot_lid_episode_15",
"task_id": "place_cube_pot_lid",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/place_cube_pot_lid/episode_15.hdf5",
"verdict": "fail",
"onset": 9.8,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the lid on top of the pot.\nObservation: the right gripper failed to open and release the lid while positioned over the pot \nResult: the lid remained clamped and did not settle onto the pot",
"avoidance": "Open the right gripper"
},
{
"sample": "place_doll_stapler_swap_episode_0",
"task_id": "place_doll_stapler_swap",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_doll_stapler_swap_episode_1",
"task_id": "place_doll_stapler_swap",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_doll_stapler_swap_episode_2",
"task_id": "place_doll_stapler_swap",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_doll_stapler_swap_episode_3",
"task_id": "place_doll_stapler_swap",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_3.hdf5",
"verdict": "fail",
"onset": 4.603421,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the green plate.\nObservation: The left gripper placed the doll on the blue plate instead of the green plate.\nResult: The left gripper failed to place the doll in the green plate.",
"avoidance": "Move the left arm to align with the green plate instead of the blue one."
},
{
"sample": "place_doll_stapler_swap_episode_4",
"task_id": "place_doll_stapler_swap",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_4.hdf5",
"verdict": "fail",
"onset": 1.906631,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the white and blue doll.\nObservation: the left gripper incorrectly targeted the stapler instead of the doll\nResult: the left gripper failed to grasp the doll",
"avoidance": "The left gripper needs to grasp the doll."
},
{
"sample": "place_doll_stapler_swap_episode_5",
"task_id": "place_doll_stapler_swap",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_5.hdf5",
"verdict": "fail",
"onset": 5.302311,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align the stapler.\nObservation: The left gripper grasped and placed the stapler on the blue plate.\nResult: Used the wrong arm; used the left gripper, not the right gripper, to grasp the stapler.",
"avoidance": "needs to use the right arm to grasp the stapler"
},
{
"sample": "place_doll_stapler_swap_episode_6",
"task_id": "place_doll_stapler_swap",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_6.hdf5",
"verdict": "fail",
"onset": 7.922317,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the blue plate.\nObservation: The right gripper with the stapler was aligned with the green plate instead of the blue plate.\nResult: The stapler was placed onto the incorrect plate.",
"avoidance": "Move the right arm to align with the blue plate instead of the green plate."
},
{
"sample": "place_doll_stapler_swap_episode_13",
"task_id": "place_doll_stapler_swap",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_13.hdf5",
"verdict": "fail",
"onset": 6.624631,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the stapler with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the stapler\nResult: the right gripper failed to grasp the stapler",
"avoidance": "Close the right gripper sufficiently to secure the stapler."
},
{
"sample": "place_doll_stapler_swap_episode_14",
"task_id": "place_doll_stapler_swap",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_doll_stapler_swap/episode_14.hdf5",
"verdict": "fail",
"onset": 3.577,
"type": [
"open_error"
],
"reason": "Expected: Release the left gripper to place the doll into the green plate.\nObservation: The left gripper failed to open despite being positioned over the green plate, preventing the doll from being released.\nResult: The left gripper did not open, failing to place the doll on the green plate.",
"avoidance": "Open the left gripper to release the doll."
},
{
"sample": "place_duck_on_block_episode_0",
"task_id": "place_duck_on_block",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_duck_on_block_episode_2",
"task_id": "place_duck_on_block",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_2.hdf5",
"verdict": "fail",
"onset": 5.774244,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the green duck.\nObservation: The left gripper approached the green duck, offset slightly to the right.\nResult: The left gripper failed to grasp the green duck.",
"avoidance": "Move the left gripper to the left slightly."
},
{
"sample": "place_duck_on_block_episode_5",
"task_id": "place_duck_on_block",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_5.hdf5",
"verdict": "fail",
"onset": 5.252413,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green duck.\nObservation: the left gripper failed to close with sufficient force to grasp the green duck \nResult: the duck was not lifted, preventing placement on the green block.",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "place_duck_on_block_episode_8",
"task_id": "place_duck_on_block",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_8.hdf5",
"verdict": "fail",
"onset": 5.60971,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the green duck during the alignment phase\nResult: the duck is dropped onto the table instead of being placed on the green block.",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "place_duck_on_block_episode_9",
"task_id": "place_duck_on_block",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_9.hdf5",
"verdict": "fail",
"onset": 10.165235,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper was positioned slightly to the left\nResult: the left gripper failed to place the green duck on the green cube",
"avoidance": "Move the left gripper slightly to the right before releasing."
},
{
"sample": "place_duck_on_block_episode_11",
"task_id": "place_duck_on_block",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_11.hdf5",
"verdict": "fail",
"onset": 9.521052,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: The left gripper placed the green duck slightly forward of the green block.\nResult: The left gripper failed to place the green duck on top of the green block.",
"avoidance": "Move the left gripper slightly backward."
},
{
"sample": "place_duck_on_block_episode_12",
"task_id": "place_duck_on_block",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_12.hdf5",
"verdict": "fail",
"onset": 8.239426,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper approached the green block offset slightly to the left during the approach to the green block.\nResult: The duck was placed on the table rather than on top of the green block.",
"avoidance": "Move the left arm to the right and align it with the green block before grasping."
},
{
"sample": "place_duck_on_block_episode_14",
"task_id": "place_duck_on_block",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_14.hdf5",
"verdict": "fail",
"onset": 3.652367,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the green duck.\nObservation: The left gripper grasped the orange duck instead of the green duck.\nResult: The left gripper failed to grasp the green duck.",
"avoidance": "The left gripper needs to grasp the green duck."
},
{
"sample": "place_duck_on_block_episode_15",
"task_id": "place_duck_on_block",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/place_duck_on_block/episode_15.hdf5",
"verdict": "fail",
"onset": 9.779052,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: The left gripper placed the green duck on top of the blue block.\nResult: The left gripper failed to put the green duck on top of the green block.",
"avoidance": "Move the left arm to align with the green block instead of the blue one."
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_0",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_1",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_2",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_3",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 2.887194,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the green duck.\nObservation: The right gripper selected and picked up the orange duck instead of the green duck during the approach phase\nResult: The green duck was not grasped",
"avoidance": "The right gripper should align with the green duck"
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_4",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_4.hdf5",
"verdict": "fail",
"onset": 6.248051,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: The right gripper placed the green duck on the white plate instead of the red pot.\nResult: The right gripper failed to place the green duck into the red pot.",
"avoidance": "The right gripper needs to place the green duck into the red pot."
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_5",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 2.572315,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the green duck.\nObservation: The right gripper grasped the orange duck and put it into the red pot.\nResult: The green duck is not grasped by the right gripper.",
"avoidance": "Move the right gripper to approach and align with the green duck."
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_6",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_6.hdf5",
"verdict": "fail",
"onset": 5.81642,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: The right gripper placed the green duck on the white plate instead of the red pot.\nResult: The right gripper failed to place the green duck into the red pot.",
"avoidance": "The right gripper needs to place the green duck into the red pot."
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_13",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_13.hdf5",
"verdict": "fail",
"onset": 4.40126,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green duck.\nObservation: the right gripper failed to close with sufficient force to grasp the green duck.\nResult: The right gripper did not pick the green duck up and put it into the red pot.",
"avoidance": "The right gripper grasps the green duck with greater force."
},
{
"sample": "place_green_duck_from_drawer_to_pot_episode_14",
"task_id": "place_green_duck_from_drawer_to_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 5.718313,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green duck.\nObservation: The right gripper failed to maintain a secure grasp on the green duck during the transfer.\nResult: The right gripper failed to place the green duck into the red pot.",
"avoidance": "Close the right gripper while moving."
},
{
"sample": "place_knife_in_drawer_episode_0",
"task_id": "place_knife_in_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_knife_in_drawer_episode_1",
"task_id": "place_knife_in_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_knife_in_drawer_episode_2",
"task_id": "place_knife_in_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_knife_in_drawer_episode_3",
"task_id": "place_knife_in_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 6.973684,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: The right gripper is placing the green knife into the lower teal drawer instead of the intended open top yellow drawer.\nResult: The right gripper failed to place the knife in the top open drawer.",
"avoidance": "Move the right arm to align with the open top drawer instead of the bottom."
},
{
"sample": "place_knife_in_drawer_episode_4",
"task_id": "place_knife_in_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_4.hdf5",
"verdict": "fail",
"onset": 2.638179,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the green plastic knife.\nObservation: the right gripper incorrectly selected and picked up the green block instead of the green plastic knife during the approach phase\nResult: The block was grasped and moved to the drawer instead of the knife.",
"avoidance": "Move the right arm to approach and align with the green plastic knife instead of the green block."
},
{
"sample": "place_knife_in_drawer_episode_5",
"task_id": "place_knife_in_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 2.660368,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the green plastic knife.\nObservation: The right gripper incorrectly selected and picked up the red marker instead of the green plastic knife.\nResult: The right gripper failed to grasp the green plastic knife.",
"avoidance": "Move the right arm to approach and align with the green plastic knife instead of the marker."
},
{
"sample": "place_knife_in_drawer_episode_6",
"task_id": "place_knife_in_drawer",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_6.hdf5",
"verdict": "fail",
"onset": 7.899998,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: The right gripper misdirected the green knife toward the white basket instead of the open top drawer.\nResult: The right gripper failed to place the green plastic knife into the open top drawer.",
"avoidance": "Move the right arm to align with the open top drawer instead of the basket."
},
{
"sample": "place_knife_in_drawer_episode_13",
"task_id": "place_knife_in_drawer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_13.hdf5",
"verdict": "fail",
"onset": 4.951578,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green plastic knife.\nObservation: The right gripper failed to close and grasp the green plastic knife.\nResult: The green plastic knife was not put into the top drawer.",
"avoidance": "Make the right gripper close tightly to grasp the green plastic knife."
},
{
"sample": "place_knife_in_drawer_episode_14",
"task_id": "place_knife_in_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_knife_in_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 4.979661,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: the right gripper failed to maintain a secure grasp on the green plastic knife during the lifting phase.\nResult: the knife slipped and fell back onto the table",
"avoidance": "Close the right gripper"
},
{
"sample": "place_pen_in_drawer_episode_0",
"task_id": "place_pen_in_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_pen_in_drawer_episode_1",
"task_id": "place_pen_in_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_pen_in_drawer_episode_2",
"task_id": "place_pen_in_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_pen_in_drawer_episode_3",
"task_id": "place_pen_in_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 2.777842,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the pen.\nObservation: the left gripper incorrectly selected and placed the remote control instead of the pen.\nResult: the left gripper failed to grasp the pen.",
"avoidance": "The left gripper needs to grasp the pen."
},
{
"sample": "place_pen_in_drawer_episode_4",
"task_id": "place_pen_in_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_4.hdf5",
"verdict": "fail",
"onset": 1.692789,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the pen.\nObservation: the left arm incorrectly selected and moved the mouse instead of the pen\nResult: the left gripper failed to grasp the mouse",
"avoidance": "Move the left arm to approach and align with the pen instead of the mouse."
},
{
"sample": "place_pen_in_drawer_episode_5",
"task_id": "place_pen_in_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 4.582877,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the open drawer.\nObservation: the left gripper placed the pen on the plate instead of in the open drawer.\nResult: the left gripper failed to move and place the pen into the open drawer.",
"avoidance": "Move the left arm to align with the open drawer instead of the plate."
},
{
"sample": "place_pen_in_drawer_episode_13",
"task_id": "place_pen_in_drawer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_13.hdf5",
"verdict": "fail",
"onset": 2.810286,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the pen.\nObservation: The left gripper was not closed enough to grasp the pen.\nResult: The left gripper failed to grasp the pen.",
"avoidance": "Close the left gripper to grasp the pen."
},
{
"sample": "place_pen_in_drawer_episode_15",
"task_id": "place_pen_in_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/place_pen_in_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 4.934315,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the open drawer.\nObservation: the left gripper released and dropped the pen while moving to the open drawer.\nResult: the left gripper failed to move and place the pen to the open drawer.",
"avoidance": "Close the right gripper tightly while moving."
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_0",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_1",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_2",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_3",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_3.hdf5",
"verdict": "fail",
"onset": 2.932657,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: the left gripper incorrectly selected and moved the orange toy instead of the green spoon.\nResult: the left gripper failed to select the green spoon",
"avoidance": "Move the left arm to approach and align the green spoon instead of the orange toy."
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_4",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_4.hdf5",
"verdict": "fail",
"onset": 3.34063,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: the left arm incorrectly grasped the orange toy instead of the green spoon\nResult: the left arm failed to approach and grasp the green spoon.",
"avoidance": "Move the left arm to approach and align the green spoon instead of the orange toy."
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_5",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_5.hdf5",
"verdict": "fail",
"onset": 6.855071,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the green spoon onto the white plate instead of into the red pot.\nResult: The left gripper failed to place the green spoon into the red pot.",
"avoidance": "Move the left arm to align with the red pot instead of the plate."
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_8",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_8.hdf5",
"verdict": "fail",
"onset": 4.316837,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: The left gripper approached the green spoon, offset slightly to the left and slightly backward, with its orientation misaligned relative to the green spoon.\nResult: The left gripper failed to grasp the green spoon.",
"avoidance": "Move the left gripper slightly to the right and forward, and rotate the left gripper clockwise before grasping."
},
{
"sample": "place_spoon_into_pot_cover_lid_episode_14",
"task_id": "place_spoon_into_pot_cover_lid",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_14.hdf5",
"verdict": "fail",
"onset": 6.6083155,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: the left gripper failed to close and secure the green spoon during the alignment phase\nResult: the spoon was dropped and while aligning with the red pot",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "place_spoon_on_plate_episode_0",
"task_id": "place_spoon_on_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_on_plate_episode_1",
"task_id": "place_spoon_on_plate",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_on_plate_episode_2",
"task_id": "place_spoon_on_plate",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "place_spoon_on_plate_episode_3",
"task_id": "place_spoon_on_plate",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_3.hdf5",
"verdict": "fail",
"onset": 4.423263,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the purple plate.\nObservation: The left gripper incorrectly placed the spoon into the drawer instead of aligning it with the purple plate.\nResult: The left gripper failed to put the spoon into the purple plate.",
"avoidance": "Move the left arm to align with the purple plate instead of the drawer."
},
{
"sample": "place_spoon_on_plate_episode_4",
"task_id": "place_spoon_on_plate",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_4.hdf5",
"verdict": "fail",
"onset": 2.634482,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the spoon.\nObservation: the right gripper incorrectly selected and placed the mouse onto the plate instead of the spoon, violating the object selection plan during the alignment subtask\nResult: the intended object (spoon) remained untouched and the plate was misused.",
"avoidance": "The gripper should approach and align with the spoon."
},
{
"sample": "place_spoon_on_plate_episode_6",
"task_id": "place_spoon_on_plate",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_6.hdf5",
"verdict": "fail",
"onset": 2.558313,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the spoon.\nObservation: The left gripper incorrectly selected and manipulated the red cube instead of the spoon.\nResult: The left gripper failed to grasp the spoon.",
"avoidance": "The left gripper needs to grasp the spoon."
},
{
"sample": "place_spoon_on_plate_episode_14",
"task_id": "place_spoon_on_plate",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_14.hdf5",
"verdict": "fail",
"onset": 4.536842,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the spoon.\nObservation: The left gripper failed to close sufficiently to grasp the spoon.\nResult: The left gripper failed to grasp and move the spoon.",
"avoidance": "Close the left gripper tightly when grasping the spoon."
},
{
"sample": "place_spoon_on_plate_episode_15",
"task_id": "place_spoon_on_plate",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/place_spoon_on_plate/episode_15.hdf5",
"verdict": "fail",
"onset": 5.883573,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the purple plate.\nObservation: the left gripper failed to maintain a secure grasp on the spoon during the alignment phase, causing it to drop.\nResult: the gripper failed to place the spoon onto the purple plate.",
"avoidance": "Close the left gripper tightly to secure the spoon during movement."
},
{
"sample": "pour_cubes_into_box_episode_0",
"task_id": "pour_cubes_into_box",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pour_cubes_into_box_episode_1",
"task_id": "pour_cubes_into_box",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pour_cubes_into_box_episode_2",
"task_id": "pour_cubes_into_box",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pour_cubes_into_box_episode_4",
"task_id": "pour_cubes_into_box",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_4.hdf5",
"verdict": "fail",
"onset": 4.894946,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the yellow box.\nObservation: the right gripper misaligned its pouring trajectory, targeting the white basket instead of the yellow box\nResult: the right gripper did not put the cube into the yellow box",
"avoidance": "The right gripper needs to put the cube into the yellow box."
},
{
"sample": "pour_cubes_into_box_episode_6",
"task_id": "pour_cubes_into_box",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_6.hdf5",
"verdict": "fail",
"onset": 2.306526,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the cup with cubes.\nObservation: The right gripper incorrectly selected and lifted the empty cup instead of the cup containing cubes.\nResult: The right gripper failed to move and align with the cup with cubes.",
"avoidance": "Move the right arm to approach and align with the cup with the cube instead of the empty cup."
},
{
"sample": "pour_cubes_into_box_episode_13",
"task_id": "pour_cubes_into_box",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_13.hdf5",
"verdict": "fail",
"onset": 6.403157,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the cup.\nObservation: The right gripper failed to close sufficiently to securely grasp the cup.\nResult: The right arm failed to grasp the cup.",
"avoidance": "Close the right gripper sufficiently to grasp the cup."
},
{
"sample": "pour_cubes_into_box_episode_15",
"task_id": "pour_cubes_into_box",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pour_cubes_into_box/episode_15.hdf5",
"verdict": "fail",
"onset": 7.112827,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the yellow box.\nObservation: he right gripper failed to maintain a secure grasp on the cup during the alignment phase with the yellow box\nResult: the cubes and cup were dropped onto the table, halting subsequent tasks",
"avoidance": "Close the right gripper tightly when moving the cup."
},
{
"sample": "pour_sausage_into_basket_episode_0",
"task_id": "pour_sausage_into_basket",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_basket_episode_1",
"task_id": "pour_sausage_into_basket",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_basket_episode_2",
"task_id": "pour_sausage_into_basket",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_basket_episode_3",
"task_id": "pour_sausage_into_basket",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_3.hdf5",
"verdict": "fail",
"onset": 3.572855,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the white basket.\nObservation: The left gripper misaligned its pouring target, targeting the pink bowl instead of the white basket.\nResult: The sausages were deposited in the wrong container.",
"avoidance": "Move the left arm to align with the white basket instead of the pink bowl."
},
{
"sample": "pour_sausage_into_basket_episode_4",
"task_id": "pour_sausage_into_basket",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_4.hdf5",
"verdict": "fail",
"onset": 1.713263,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The right arm erroneously initiated the approach to the green plate, instead of the designated left arm. Result: The left arm failed to move and grasp the plate.",
"avoidance": "Move the left arm instead of the right one to approach and align with the plate containing sausages."
},
{
"sample": "pour_sausage_into_basket_episode_5",
"task_id": "pour_sausage_into_basket",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_5.hdf5",
"verdict": "fail",
"onset": 2.275155,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The right arm erroneously initiated the approach to the green plate, instead of the designated left arm.\nResult: The left gripper failed to approach and grasp the plate.",
"avoidance": "Move the left arm instead of the right to approach and align with the plate containing sausages."
},
{
"sample": "pour_sausage_into_basket_episode_6",
"task_id": "pour_sausage_into_basket",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_basket_episode_7",
"task_id": "pour_sausage_into_basket",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_7.hdf5",
"verdict": "fail",
"onset": 4.243577,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the white basket.\nObservation: the left arm misaligned its pouring trajectory, targeting the pink bowl instead of the white basket \nResult: the sausages were deposited in the wrong container.",
"avoidance": "Move the left arm to align with the white basket instead of the pink bowl."
},
{
"sample": "pour_sausage_into_basket_episode_14",
"task_id": "pour_sausage_into_basket",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_basket/episode_14.hdf5",
"verdict": "fail",
"onset": 2.468999,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The left gripper failed to open (transition to the open state) after aligning with the green plate.\nResult: The left gripper failed to grasp the plate rim.",
"avoidance": "Open the left gripper before grasping the plate rim."
},
{
"sample": "pour_sausage_into_bowl_episode_0",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_bowl_episode_1",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_bowl_episode_2",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pour_sausage_into_bowl_episode_4",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_4.hdf5",
"verdict": "fail",
"onset": 5.293526,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: the right gripper poured the sausages into the basket instead of the pink bowl.\nResult: the right gripper failed to pour the sausages from the plate into the pink bowl.",
"avoidance": "Move the right arm to align with the pink bowl instead of the basket."
},
{
"sample": "pour_sausage_into_bowl_episode_5",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_5.hdf5",
"verdict": "fail",
"onset": 5.092861,
"type": [
"wrong_object",
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The right arm poured the sausages into the blue bowl instead of the pink bowl.\nResult: The right arm failed to pour the sausages from the plate into the pink bowl.",
"avoidance": "The right arm should align the blue plate with the pink bowl."
},
{
"sample": "pour_sausage_into_bowl_episode_6",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_6.hdf5",
"verdict": "fail",
"onset": 3.74021,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the plate containing sausages.\nObservation: The left gripper, instead of the planned right arm, was mistakenly used to grasp the plate containing sausages.\nResult: The right gripper failed to grasp the plate with sausages.",
"avoidance": "Move the right arm instead of the left arm to approach and align with the plate containing sausages."
},
{
"sample": "pour_sausage_into_bowl_episode_10",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_10.hdf5",
"verdict": "fail",
"onset": 8.563684,
"type": [
"orientation_error",
"wrong_sequence"
],
"reason": "Expected: Tilt the plate to pour the sausages into the pink bowl.\nObservation: The right gripper hovers above the pink bowl, stationary and tilted, failing to complete the pouring action, and the sausages remain on the plate.\nResult: The right gripper failed to pour the sausages into the pink bowl.",
"avoidance": "Rotate the right gripper counterclockwise to pour the sausages into the pink bowl."
},
{
"sample": "pour_sausage_into_bowl_episode_13",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_13.hdf5",
"verdict": "fail",
"onset": 3.043894,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the plate with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the plate\nResult: the right gripper failed to grasp the plate",
"avoidance": "Close the right gripper tightly to secure the plate edge."
},
{
"sample": "pour_sausage_into_bowl_episode_14",
"task_id": "pour_sausage_into_bowl",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_bowl/episode_14.hdf5",
"verdict": "fail",
"onset": 3.477944,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the plate containing sausages.\nObservation: The right gripper did not open during the grasping subtask, causing it to collide with the plate.\nResult: The plate was never lifted, and the pouring action could not be initiated.",
"avoidance": "Open the right gripper before grasping."
},
{
"sample": "pour_sausage_into_pot_episode_0",
"task_id": "pour_sausage_into_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pour_sausage_into_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_0",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_3",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_4",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_6",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_7",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_8",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_9",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_11",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_12",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_13",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_14",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_15",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_16",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_17",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_18",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_19",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_20",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_21",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_22",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_23",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pour_water_transparent_cup_ep1_episode_24",
"task_id": "pour_water_transparent_cup_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pour_water_transparent_cup_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_0",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_3",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_4",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_5",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_6",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_7",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_8",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_9",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_14",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_15",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_17",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_18",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_19",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_20",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_21",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_22",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_23",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_can_ep1_episode_24",
"task_id": "pull_bottom_drawer_put_can_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_0",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_1",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_2",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_3",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 3.977489,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the bottom drawer.\nObservation: the right gripper pulled the middle drawer instead of the bottom one,\nResult: the planned sequence to retrieve the duck from the bottom drawer was violated.",
"avoidance": "Move the right arm to align with the bottom drawer instead of the middle drawer."
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_4",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_4.hdf5",
"verdict": "fail",
"onset": 4.672714,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to align with the bottom drawer.\nObservation: The right gripper incorrectly targeted and pulled the middle yellow drawer instead of the bottom one, violating the execution order.\nResult: The intended object (orange duck) remained inaccessible",
"avoidance": "The right gripper should approach and align with the bottom drawer instead of the middle drawer."
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_5",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 17.017578,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the orange duck on the white plate instead of the red pot.\nResult: The left gripper failed to put the orange duck into the red pot.",
"avoidance": "Move the left arm to align with the red pot instead of the white plate."
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_6",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_6.hdf5",
"verdict": "fail",
"onset": 16.883368,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the orange duck on the white plate instead of in the red pot.\nResult: The left gripper failed to move the duck to the red pot.",
"avoidance": "Move the left arm to align with the red pot instead of the white plate."
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_14",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 5.072105,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the orange duck.\nObservation: he left gripper failed to close sufficiently to grasp the orange duck\nResult: the left gripper failed to grasp the orange duck",
"avoidance": "Close the left gripper sufficiently to grasp the orange duck."
},
{
"sample": "pull_bottom_drawer_put_duck_into_pot_episode_15",
"task_id": "pull_bottom_drawer_put_duck_into_pot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_15.hdf5",
"verdict": "fail",
"onset": 6.130365,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper failed to close tightly, causing the orange duck to fall during the task.\nResult: The left gripper failed to place the orange duck into the red pot.",
"avoidance": "Close the left gripper while moving."
},
{
"sample": "pull_open_bottom_drawer_episode_0",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "pull_open_bottom_drawer_episode_1",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "pull_open_bottom_drawer_episode_2",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "pull_open_bottom_drawer_episode_3",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 2.60619,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The left arm erroneously initiated the approach to the bottom drawer handle, instead of the designated right arm.\nResult: Used the wrong arm; used the left arm, not the right arm, to grasp the bottom drawer handle.",
"avoidance": "needs to use the right gripper to grasp the bottom drawer handle"
},
{
"sample": "pull_open_bottom_drawer_episode_4",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_4.hdf5",
"verdict": "fail",
"onset": 2.253052,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The right gripper approached and grasped the top drawer handle instead of the bottom one.\nResult: The right gripper failed to align with and grasp the bottom drawer handle.",
"avoidance": "The right gripper needs to grasp the bottom drawer handle."
},
{
"sample": "pull_open_bottom_drawer_episode_6",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_6.hdf5",
"verdict": "fail",
"onset": 2.265263,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The left arm erroneously initiated the approach to the top drawer handle, instead of the designated right arm.\nResult: The right arm failed to approach and grasp the bottom drawer handle.",
"avoidance": "Move the right arm instead of the left arm to approach and align with the bottom drawer handle."
},
{
"sample": "pull_open_bottom_drawer_episode_11",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_11.hdf5",
"verdict": "fail",
"onset": 3.608421,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: the right gripper approached the bottom drawer handle with its orientation misaligned relative to the bottom drawer handle\nResult: the right gripper failed to align with and grasp the bottom drawer handle",
"avoidance": "Rotate the right gripper counterclockwise before grasping."
},
{
"sample": "pull_open_bottom_drawer_episode_14",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 2.74615,
"type": [
"open_error"
],
"reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The right gripper failed to open before aligning with the drawer handle, colliding with the drawer handle despite correct alignment.\nResult: The right gripper failed to grasp the drawer handle.",
"avoidance": "Open the right gripper to grasp the drawer handle."
},
{
"sample": "pull_open_bottom_drawer_episode_15",
"task_id": "pull_open_bottom_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/pull_open_bottom_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 5.039995,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the drawer handle with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the drawer handle.\nResult: the gripper failed to pull the drawer.",
"avoidance": "Close the right gripper tightly to grasp the drawer handle when grasping."
},
{
"sample": "pull_open_drawer_episode_30",
"task_id": "pull_open_drawer",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/pull_open_drawer/episode_30.hdf5",
"verdict": "success"
},
{
"sample": "push_middle_drawer_episode_0",
"task_id": "push_middle_drawer",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "push_middle_drawer_episode_1",
"task_id": "push_middle_drawer",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "push_middle_drawer_episode_2",
"task_id": "push_middle_drawer",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "push_middle_drawer_episode_3",
"task_id": "push_middle_drawer",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_3.hdf5",
"verdict": "fail",
"onset": 2.073684,
"type": [
"translation_error",
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The left arm pushed and closed the bottom drawer instead of the middle drawer, which is offset significantly downward.\nResult: The left arm failed to align with the middle drawer to push and close it.",
"avoidance": "The left arm should move upward to align with the middle drawer to push and close it."
},
{
"sample": "push_middle_drawer_episode_4",
"task_id": "push_middle_drawer",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_4.hdf5",
"verdict": "fail",
"onset": 2.308045,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The right gripper, not the left, was positioned to interact with the middle drawer handle.\nResult: The correct arm was not engaged, leading to task abortion.",
"avoidance": "Use the left gripper to close the middle drawer."
},
{
"sample": "push_middle_drawer_episode_5",
"task_id": "push_middle_drawer",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_5.hdf5",
"verdict": "fail",
"onset": 1.582841,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The left gripper erroneously targeted and aligned with the top drawer handle, instead of the intended middle drawer handle.\nResult: The gripper approached the wrong handle, violating the task plan sequence.",
"avoidance": "Move the left arm to approach and align with the middle drawer handle instead of the top one."
},
{
"sample": "push_middle_drawer_episode_13",
"task_id": "push_middle_drawer",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_13.hdf5",
"verdict": "fail",
"onset": 13.4,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: the left gripper did not release after pushing the middle drawer.\nResult: the left gripper did not release after pushing the middle drawer.",
"avoidance": "Release the left gripper after the middle drawer is closed."
},
{
"sample": "push_middle_drawer_episode_14",
"task_id": "push_middle_drawer",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_14.hdf5",
"verdict": "fail",
"onset": 10.92,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: The left gripper did not release after pushing the middle drawer.\nResult: The left gripper kept holding the drawer handle.",
"avoidance": "Open the left gripper after pushing the drawer."
},
{
"sample": "push_middle_drawer_episode_15",
"task_id": "push_middle_drawer",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/push_middle_drawer/episode_15.hdf5",
"verdict": "fail",
"onset": 8.2,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: The left gripper did not release after pushing the middle drawer, preventing arm retraction.\nResult: The left gripper failed to release the drawer handle after closing the drawer.",
"avoidance": "Open the left gripper to release the drawer handle."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_0",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_1",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_2",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_3",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_3.hdf5",
"verdict": "fail",
"onset": 4.018372,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the transparent box.\nObservation: the right gripper misaligned its target, placing the eraser into the basket instead of the transparent box during the alignment subtask\nResult: the object was deposited in the wrong container",
"avoidance": "Move the right arm to align with the transparent box instead of the basket."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_4",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_4.hdf5",
"verdict": "fail",
"onset": 4.080993,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the transparent box.\nObservation: the right gripper incorrectly placed the blackboard eraser onto the blue plate instead of the transparent box\nResult: the eraser was mispositioned, violating the taskgoal",
"avoidance": "Move the right arm to align with the transparent box instead of the blue plate."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_5",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_5.hdf5",
"verdict": "fail",
"onset": 1.648052,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the blackboard eraser.\nObservation: The right gripper incorrectly targeted the red marker instead of the blackboard eraser.\nResult: The right gripper failed to grab the blackboard eraser.",
"avoidance": "Move the right arm to approach and align with the blackboard eraser instead of the marker."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_6",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_6.hdf5",
"verdict": "fail",
"onset": 1.79221,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the blackboard eraser.\nObservation: The right gripper incorrectly targeted and picked up the orange object instead of the blackboard eraser.\nResult: The right gripper failed to grasp the blackboard eraser.",
"avoidance": "Move the right arm to approach and align with the blackboard eraser instead of the orange object."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_13",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_13.hdf5",
"verdict": "fail",
"onset": 6.986315,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the transparent box.\nObservation: The right gripper released and slipped the blackboard eraser while moving.\nResult: The right gripper failed to move the blackboard eraser to the transparent box.",
"avoidance": "Close the right gripper tightly to secure the eraser while moving."
},
{
"sample": "put_blackboard_eraser_in_transparent_box_episode_14",
"task_id": "put_blackboard_eraser_in_transparent_box",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_14.hdf5",
"verdict": "fail",
"onset": 4.575893,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the blackboard eraser.\nObservation: The right gripper failed to fully close to grasp the blackboard eraser.\nResult: The right gripper failed to lift the blackboard eraser.",
"avoidance": "Close the right gripper before lifting."
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_0",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_1",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_2",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_3",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_4",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_5",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_6",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_8",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_9",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_10",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_11",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_12",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_13",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_14",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_15",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_16",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_18",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_19",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_20",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_21",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_22",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_23",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_24",
"task_id": "put_doll_pink_plate_stapler_purple_plate_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_0",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_2",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_3",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_4",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_6",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_7",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_8",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_8.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_10",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_11",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_11.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_12",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_13",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_13",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_13.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_15",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_16",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_17",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_18",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_19",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_20",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_23",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_basket_from_tray_ep1_episode_24",
"task_id": "put_mouse_basket_from_tray_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_24.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_on_pot_episode_0",
"task_id": "put_mouse_on_pot",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_on_pot_episode_1",
"task_id": "put_mouse_on_pot",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_on_pot_episode_2",
"task_id": "put_mouse_on_pot",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_mouse_on_pot_episode_3",
"task_id": "put_mouse_on_pot",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_3.hdf5",
"verdict": "fail",
"onset": 4.398786,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper misaligned its target, placing the mouse into the white basket instead of the red pot \nResult: The mouse was misplaced into the wrong target",
"avoidance": "Move the right arm to align with the white basket."
},
{
"sample": "put_mouse_on_pot_episode_4",
"task_id": "put_mouse_on_pot",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_4.hdf5",
"verdict": "fail",
"onset": 4.1216,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper misaligned its target, placing the mouse into the white basket instead of the red pot during the alignment subtask.\nResult: the mouse was misplaced, violating the task plan",
"avoidance": "Move the right arm to align with the red pot instead of the basket."
},
{
"sample": "put_mouse_on_pot_episode_5",
"task_id": "put_mouse_on_pot",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_5.hdf5",
"verdict": "fail",
"onset": 1.719393,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the computer mouse.\nObservation: the right gripper incorrectly selected and manipulated the red cube instead of the computer mouse during the approach phase.\nResult: the mouse remained untouched while the cube was incorrectly grasped",
"avoidance": "Move the right arm to approach and align with the computer mouse instead of the red cube."
},
{
"sample": "put_mouse_on_pot_episode_6",
"task_id": "put_mouse_on_pot",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_6.hdf5",
"verdict": "fail",
"onset": 1.451367,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the computer mouse.\nObservation: The right gripper incorrectly selected and grasped the plush toy instead of the computer mouse.\nResult: The right gripper failed to grasp the computer mouse.",
"avoidance": "Move the right arm to select the computer mouse instead of the plush toy."
},
{
"sample": "put_mouse_on_pot_episode_14",
"task_id": "put_mouse_on_pot",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_14.hdf5",
"verdict": "fail",
"onset": 3.297,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper released and slipped the mouse when moving the mouse to the red pot\nResult: the right gripper failed to move the mouse to the red pot",
"avoidance": "Close the right gripper tightly while moving the mouse."
},
{
"sample": "put_mouse_on_pot_episode_15",
"task_id": "put_mouse_on_pot",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/put_mouse_on_pot/episode_15.hdf5",
"verdict": "fail",
"onset": 3.957631,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper released and dropped the mouse while moving to the red pot\nResult: the right gripper failed to move and place the mouse into the red pot.",
"avoidance": "Close the right gripper tightly while moving the mouse"
},
{
"sample": "put_pen_in_basket_episode_0",
"task_id": "put_pen_in_basket",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_pen_in_basket_episode_1",
"task_id": "put_pen_in_basket",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_pen_in_basket_episode_2",
"task_id": "put_pen_in_basket",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_pen_in_basket_episode_3",
"task_id": "put_pen_in_basket",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_3.hdf5",
"verdict": "fail",
"onset": 2.089668,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: the right gripper selected and picked up the red marker instead of the black pen.\nResult: the right gripper failed to grasp the black pen.",
"avoidance": "Move the right arm instead of the left to approach and align the black pen."
},
{
"sample": "put_pen_in_basket_episode_4",
"task_id": "put_pen_in_basket",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_4.hdf5",
"verdict": "fail",
"onset": 4.901714,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the basket.\nObservation: the right gripper misaligned its target, placing the pen on the plate instead of the basket.\nResult: the right gripper failed to release and place the black pen into the basket.",
"avoidance": "Move the right arm to align with the basket instead of the plate."
},
{
"sample": "put_pen_in_basket_episode_5",
"task_id": "put_pen_in_basket",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_5.hdf5",
"verdict": "fail",
"onset": 1.809,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: The right gripper incorrectly selected and grasped the orange duck instead of the black pen.\nResult: The right gripper failed to grasp the black pen.",
"avoidance": "Move the right arm to approach and align the black pen instead of the orange duck."
},
{
"sample": "put_pen_in_basket_episode_6",
"task_id": "put_pen_in_basket",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_6.hdf5",
"verdict": "fail",
"onset": 3.465421,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the right arm to align with the basket.\nObservation: The right gripper placed the black pen on the purple plate instead of in the basket.\nResult: The right gripper failed to place the black pen into the basket.",
"avoidance": "The right gripper needs to place the black pen into the basket."
},
{
"sample": "put_pen_in_basket_episode_9",
"task_id": "put_pen_in_basket",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_9.hdf5",
"verdict": "fail",
"onset": 4.001463,
"type": [
"orientation_error"
],
"reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: the right gripper approached and alignthe black pen with its orientation misaligned relative to the black pen.\nResult: the right gripper failed to grasp the black pen.",
"avoidance": "Rotate the right gripper clockwise 90 degrees."
},
{
"sample": "put_pen_in_basket_episode_14",
"task_id": "put_pen_in_basket",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/put_pen_in_basket/episode_14.hdf5",
"verdict": "fail",
"onset": 3.385526,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the black pen.\nObservation: the right gripper failed to close sufficiently to grasp the black pen\nResult: the right gripper failed to grasp the black pen",
"avoidance": "Close the right gripper sufficiently to grasp the black pen."
},
{
"sample": "put_stapler_blue_plate_episode_0",
"task_id": "put_stapler_blue_plate",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_blue_plate_episode_1",
"task_id": "put_stapler_blue_plate",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_blue_plate_episode_2",
"task_id": "put_stapler_blue_plate",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_blue_plate_episode_4",
"task_id": "put_stapler_blue_plate",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_4.hdf5",
"verdict": "fail",
"onset": 2.76642,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The left gripper incorrectly selected and manipulated the red cube instead of the blue stapler.\nResult: The left gripper failed to grasp the blue stapler.",
"avoidance": "The left gripper needs to grasp the blue stapler."
},
{
"sample": "put_stapler_blue_plate_episode_5",
"task_id": "put_stapler_blue_plate",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_5.hdf5",
"verdict": "fail",
"onset": 2.437105,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The right arm erroneously initiated the approach to the blue stapler, instead of the designated left arm. Result: The left arm failed to approach and grasp the blue stapler.",
"avoidance": "Move the left arm instead of the right to approach and align the blue stapler."
},
{
"sample": "put_stapler_blue_plate_episode_6",
"task_id": "put_stapler_blue_plate",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_6.hdf5",
"verdict": "fail",
"onset": 2.617315,
"type": [
"wrong_gripper",
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The right arm was used to perform the grasp instead of the left arm. Moreover the wrong object was targeted.\nResult: An incorrect action was executed outside of the task plan.",
"avoidance": "Move the left arm to align with the stapler instead."
},
{
"sample": "put_stapler_blue_plate_episode_12",
"task_id": "put_stapler_blue_plate",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_12.hdf5",
"verdict": "fail",
"onset": 2.956368,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The left gripper approached the stapler with its orientation misaligned relative to the stapler.\nResult: The left gripper failed to grasp the stapler.",
"avoidance": "Rotate the left gripper counterclockwise."
},
{
"sample": "put_stapler_blue_plate_episode_15",
"task_id": "put_stapler_blue_plate",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/put_stapler_blue_plate/episode_15.hdf5",
"verdict": "fail",
"onset": 4.6813695,
"type": [
"open_error"
],
"reason": "Expected: Release the gripper to place the blue stapler into the blue plate.\nObservation: the left gripper is hovering above the blue plate without releasing.\nResult: the left gripper failed to release the blue stapler into the blue plate.",
"avoidance": "Release the left gripper to place the blue stapler into the blue plate after alignment."
},
{
"sample": "put_stapler_top_drawer_and_close_episode_0",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_top_drawer_and_close_episode_1",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_top_drawer_and_close_episode_2",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_stapler_top_drawer_and_close_episode_6",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_6.hdf5",
"verdict": "fail",
"onset": 3.769379,
"type": [
"wrong_sequence",
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align with the handle of the top drawer.\nObservation: the right gripper targeted the lower drawer instead of the top drawer\nResult: the top drawer handle could not be grasped and the drawer is not closed",
"avoidance": "Move the right arm to approach and align with the handle of the top drawer instead of the bottom one."
},
{
"sample": "put_stapler_top_drawer_and_close_episode_8",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_8.hdf5",
"verdict": "fail",
"onset": 4.236788499999999,
"type": [
"orientation_error",
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: the left gripper approached the blue stapler, offset with its orientation misaligned relative to the blue stapler\nResult: the left gripper failed to grasp the blue stapler",
"avoidance": "Move the left gripper and rotate it clockwise before grasping."
},
{
"sample": "put_stapler_top_drawer_and_close_episode_9",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_9.hdf5",
"verdict": "fail",
"onset": 3.768842,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: the left gripper approached the blue stapler, offset slightly to the left and slightly forward\nResult: the left gripper failed to grasp the blue stapler",
"avoidance": "Move the left gripper slightly to the right and slightly backward before grasping."
},
{
"sample": "put_stapler_top_drawer_and_close_episode_10",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_10.hdf5",
"verdict": "fail",
"onset": 6.154593,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to align with the top drawer.\nObservation: the left gripper approached the top drawer offset slightly to the left\nResult: the stapler was not placed into the top drawer",
"avoidance": "Move the left gripper to the right slightly"
},
{
"sample": "put_stapler_top_drawer_and_close_episode_11",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_11.hdf5",
"verdict": "fail",
"onset": 3.803999,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: The left gripper approached the blue stapler, offset significantly to the right and forward.\nResult: The left gripper failed to grasp the stapler.",
"avoidance": "Move the left gripper to the left and backward significantly."
},
{
"sample": "put_stapler_top_drawer_and_close_episode_12",
"task_id": "put_stapler_top_drawer_and_close",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/put_stapler_top_drawer_and_close/episode_12.hdf5",
"verdict": "fail",
"onset": 6.455367,
"type": [
"translation_error",
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the top drawer.\nObservation: The left gripper dropped the stapler on the table instead of in the top drawer, which was slightly offset backward from the target.\nResult: The left arm failed to move and place the stapler in the top drawer.",
"avoidance": "Move the left gripper forward to slightly approach the top drawer."
},
{
"sample": "put_two_objects_into_plate_and_box_episode_0",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "put_two_objects_into_plate_and_box_episode_1",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "put_two_objects_into_plate_and_box_episode_2",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "put_two_objects_into_plate_and_box_episode_4",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_4.hdf5",
"verdict": "fail",
"onset": 4.952275,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the box.\nObservation: The left gripper incorrectly placed the stapler on the plate instead of the box.\nResult: The stapler was misplaced onto the plate instead of the box.",
"avoidance": "Move the left arm to align with the box instead of the plate."
},
{
"sample": "put_two_objects_into_plate_and_box_episode_5",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_5.hdf5",
"verdict": "fail",
"onset": 2.00185,
"type": [
"wrong_object"
],
"reason": "Expected: Move the right arm to approach and align the doll.\nObservation: The right arm targeted the stapler first.\nResult: The doll was not picked up by the right gripper.",
"avoidance": "The right arm should align with the doll instead of the stapler."
},
{
"sample": "put_two_objects_into_plate_and_box_episode_6",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_6.hdf5",
"verdict": "fail",
"onset": 10.414694,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the box.\nObservation: the left gripper incorrectly placed the stapler onto the plate instead of the box\nResult: the left gripper failed to place the stapler on the box",
"avoidance": "Move the left arm to align with the box instead of the plate."
},
{
"sample": "put_two_objects_into_plate_and_box_episode_11",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_11",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_11.hdf5",
"verdict": "fail",
"onset": 2.938758,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the stapler.\nObservation: the left gripper approached the stapler offset slightly to the left with its orientation misaligned relative to the stapler\nResult: the gripper could not grasp the stapler",
"avoidance": "Move the left gripper to the right slightly, and rotate the left gripper"
},
{
"sample": "put_two_objects_into_plate_and_box_episode_14",
"task_id": "put_two_objects_into_plate_and_box",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/put_two_objects_into_plate_and_box/episode_14.hdf5",
"verdict": "fail",
"onset": 12.113684,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the stapler with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the stapler. \nResult: The left gripper failed to grasp the stapler.",
"avoidance": "Close the left gripper tightly when grasping the stapler."
},
{
"sample": "stack_cup_cola_episode_0",
"task_id": "stack_cup_cola",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_cup_cola/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_cola_episode_30",
"task_id": "stack_cup_cola",
"episode": "episode_30",
"robot": "agilex",
"hdf5": "episodes/stack_cup_cola/episode_30.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_cola_episode_103",
"task_id": "stack_cup_cola",
"episode": "episode_103",
"robot": "agilex",
"hdf5": "episodes/stack_cup_cola/episode_103.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_cola_episode_119",
"task_id": "stack_cup_cola",
"episode": "episode_119",
"robot": "agilex",
"hdf5": "episodes/stack_cup_cola/episode_119.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_cola_episode_235",
"task_id": "stack_cup_cola",
"episode": "episode_235",
"robot": "agilex",
"hdf5": "episodes/stack_cup_cola/episode_235.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_on_book_episode_0",
"task_id": "stack_cup_on_book",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_on_book_episode_1",
"task_id": "stack_cup_on_book",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_on_book_episode_2",
"task_id": "stack_cup_on_book",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "stack_cup_on_book_episode_3",
"task_id": "stack_cup_on_book",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_3.hdf5",
"verdict": "fail",
"onset": 6.212527,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the closed book.\nObservation: The left gripper with the grasped cup aligned with the blue plate instead of the book.\nResult: The left arm failed to align with the closed book, causing incorrect placement.",
"avoidance": "Move the left arm to align with the blue closed book before releasing."
},
{
"sample": "stack_cup_on_book_episode_4",
"task_id": "stack_cup_on_book",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_4.hdf5",
"verdict": "fail",
"onset": 4.945198,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to align with the closed book.\nObservation: the left gripper placed the cup into the basket instead of aligning it with the book\nResult: the left gripper placed the cup in the wrong position",
"avoidance": "The left gripper needs to place the cup on the closed book."
},
{
"sample": "stack_cup_on_book_episode_5",
"task_id": "stack_cup_on_book",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_5.hdf5",
"verdict": "fail",
"onset": 2.671945,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the cup.\nObservation: The left gripper incorrectly targeted the green block instead of the cup during the approach phase.\nResult: the left gripper doesn't pick up the cup.",
"avoidance": "Move the left arm to approach and align with the cup."
},
{
"sample": "stack_cup_on_book_episode_6",
"task_id": "stack_cup_on_book",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_6.hdf5",
"verdict": "fail",
"onset": 2.880668,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align with the cup.\nObservation: the left gripper incorrectly targeted and manipulated the green block instead of the cup\nResult: the left gripper failed to grasp the green block",
"avoidance": "The left gripper needs to grasp the cup."
},
{
"sample": "stack_cup_on_book_episode_14",
"task_id": "stack_cup_on_book",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_14.hdf5",
"verdict": "fail",
"onset": 4.400842,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the cup.\nObservation: The left gripper failed to close sufficiently to secure the cup, leaving the cup on the table.\nResult: The left gripper failed to grasp and move the cup to the closed book.",
"avoidance": "Close the left gripper tightly to grasp the cup."
},
{
"sample": "stack_cup_on_book_episode_15",
"task_id": "stack_cup_on_book",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/stack_cup_on_book/episode_15.hdf5",
"verdict": "fail",
"onset": 2.989241,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the cup.\nObservation: the left gripper failed to close sufficiently to grasp the cup\nResult: the cup remained stationary and the robot withdrew without securing it.",
"avoidance": "Close the left gripper"
},
{
"sample": "stack_green_cup_into_purple_cup_episode_0",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_green_cup_into_purple_cup_episode_2",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_2.hdf5",
"verdict": "fail",
"onset": 2.289424,
"type": [
"closing_error"
],
"reason": "Expected: Grasp the green cup.\nObservation: The left gripper failed to close sufficiently to grasp the green cup\nResult: The green cup was not lifted.",
"avoidance": "Close the left gripper more tightly"
},
{
"sample": "stack_green_cup_into_purple_cup_episode_4",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_4.hdf5",
"verdict": "fail",
"onset": 2.832946,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper failed to maintain a secure grasp on the green cup during the approach, causing it to slip and fall.\nResult: the left gripper failed to stack the green cup over the purple cup.",
"avoidance": "Make sure the left gripper secures the green cup while moving."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_5",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_5.hdf5",
"verdict": "fail",
"onset": 3.845947,
"type": [
"wrong_placement"
],
"reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper stacked the green cup into the blue cup instead of the purple cup.\nResult: the left gripper failed to stack the green cup into the purple cup.",
"avoidance": "Move the left arm to approach and align the purple cup instead of the blue cup."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_7",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_7.hdf5",
"verdict": "fail",
"onset": 2.058946,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly to the right, with its orientation misaligned relative to the green cup.\nResult: The left gripper failed to grasp the green cup.",
"avoidance": "Move the left gripper slightly to the left and rotate it counterclockwise before grasping."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_8",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_8",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_8.hdf5",
"verdict": "fail",
"onset": 2.2006505,
"type": [
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup with its orientation misaligned relative to the green cup.\nResult: The left gripper failed to grasp the green cup rim.",
"avoidance": "Rotate the left gripper clockwise to align with the cup rim."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_9",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_9.hdf5",
"verdict": "fail",
"onset": 2.794577,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly to the right.\nResult: The left gripper failed to grasp the green cup.",
"avoidance": "Move the left gripper slightly to the left before grasping."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_12",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_12.hdf5",
"verdict": "fail",
"onset": 4.313862,
"type": [
"translation_error"
],
"reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper was positioned too low during the alignment stage, causing a collision and halting the task.\nResult: The left gripper failed to align the green cup with the purple cup.",
"avoidance": "Move the left gripper in a higher position during the alignment stage."
},
{
"sample": "stack_green_cup_into_purple_cup_episode_14",
"task_id": "stack_green_cup_into_purple_cup",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/stack_green_cup_into_purple_cup/episode_14.hdf5",
"verdict": "fail",
"onset": 4.709517,
"type": [
"translation_error",
"orientation_error"
],
"reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly upward, with its orientation misaligned relative to the green cup.\nResult: The gripper failed to engage the cup properly, preventing the grasp.",
"avoidance": "Move the left gripper slightly downward and rotate the left gripper"
},
{
"sample": "stack_pepsi_can_cup_episode_0",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_pepsi_can_cup_episode_1",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "stack_pepsi_can_cup_episode_2",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "stack_pepsi_can_cup_episode_3",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_3.hdf5",
"verdict": "fail",
"onset": 1.787947,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper incorrectly selected and lifted the red cube instead of the Pepsi can.\nResult: The left gripper failed to grasp the Pepsi can.",
"avoidance": "Move the left arm to approach and align the blue Pepsi can instead of the red cube."
},
{
"sample": "stack_pepsi_can_cup_episode_4",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_4.hdf5",
"verdict": "fail",
"onset": 3.217051,
"type": [
"wrong_gripper"
],
"reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The right arm erroneously initiated the grasp attempt on the Pepsi can, instead of the designated left arm.\nResult: The wrong arm was mobilized",
"avoidance": "Use the left arm to grasp the Pepsi can."
},
{
"sample": "stack_pepsi_can_cup_episode_5",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_5.hdf5",
"verdict": "fail",
"onset": 2.661842,
"type": [
"wrong_placement",
"translation_error"
],
"reason": "Expected: Move the left arm to align with the blue cup.\nObservation: The left gripper placed the Pepsi can in the bowl instead of the cup, which is to its right.\nResult: The left gripper failed to place the Pepsi can in the cup.",
"avoidance": "Move the left arm to place the Pepsi can into the blue cup."
},
{
"sample": "stack_pepsi_can_cup_episode_6",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_6.hdf5",
"verdict": "fail",
"onset": 1.805472,
"type": [
"wrong_object"
],
"reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper incorrectly selected the red cube instead of the blue Pepsi can.\nResult: The left gripper failed to grasp and move the Pepsi can.",
"avoidance": "Move the left arm to approach and align the blue Pepsi can instead of the red cube."
},
{
"sample": "stack_pepsi_can_cup_episode_14",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_14.hdf5",
"verdict": "fail",
"onset": 2.299473,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the blue cup.\nObservation: The left gripper failed to maintain a secure grasp on the Pepsi can while moving it to the blue cup.\nResult: The left gripper failed to move the Pepsi can to the blue cup.",
"avoidance": "Close the left gripper tightly to secure the blue cup."
},
{
"sample": "stack_pepsi_can_cup_episode_15",
"task_id": "stack_pepsi_can_cup",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/stack_pepsi_can_cup/episode_15.hdf5",
"verdict": "fail",
"onset": 1.468418,
"type": [
"open_error"
],
"reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper failed to open (transition to the open state) after aligning with the Pepsi can.\nResult: The left gripper failed to grasp the blue Pepsi can.",
"avoidance": "Open the left gripper for grasping the Pepsi can."
},
{
"sample": "stack_three_block_episode_0",
"task_id": "stack_three_block",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_block_episode_9",
"task_id": "stack_three_block",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_9.hdf5",
"verdict": "fail",
"onset": 5.529898,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the orange block during the alignment phase, causing it to drop.\nResult: the gripper failed to secure the orange block, making it drop before stacking.",
"avoidance": "Close the left gripper tightly to secure the green cube when grasping."
},
{
"sample": "stack_three_block_episode_19",
"task_id": "stack_three_block",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_19.hdf5",
"verdict": "fail",
"onset": 3.198421,
"type": [
"wrong_sequence",
"wrong_gripper"
],
"reason": "Expected: Move the left arm to align with the orange block.\nObservation: The right gripper grasped the blue cubes, while the left arm is still and has not approached the orange block.\nResult: The left arm failed to approach and align with the orange block.",
"avoidance": "Move the left arm to align with the orange block first."
},
{
"sample": "stack_three_block_episode_29",
"task_id": "stack_three_block",
"episode": "episode_29",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_29.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_block_episode_42",
"task_id": "stack_three_block",
"episode": "episode_42",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_42.hdf5",
"verdict": "fail",
"onset": 13.230289,
"type": [
"closing_error"
],
"reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper failed to maintain a secure grasp on the blue block during the alignment phase.\nResult: The gripper drops the blue block.",
"avoidance": "Close the right gripper tightly"
},
{
"sample": "stack_three_block_episode_44",
"task_id": "stack_three_block",
"episode": "episode_44",
"robot": "agilex",
"hdf5": "episodes/stack_three_block/episode_44.hdf5",
"verdict": "fail",
"onset": 4.393103,
"type": [
"closing_error"
],
"reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the orange block during the alignment phase, causing it to drop\nResult: The block was displaced onto the table",
"avoidance": "Close the left gripper tightly"
},
{
"sample": "stack_three_color_cubes_ep1_episode_0",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_0",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_0.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_1",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_1",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_1.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_2",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_2",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_2.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_3",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_3",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_3.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_4",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_4",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_4.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_5",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_5",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_5.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_6",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_6",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_6.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_7",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_7",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_7.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_9",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_9",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_9.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_10",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_10",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_10.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_12",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_12",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_12.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_14",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_14",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_14.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_15",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_15",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_15.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_16",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_16",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_16.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_17",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_17",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_17.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_18",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_18",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_18.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_19",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_19",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_19.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_20",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_20",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_20.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_21",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_21",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_21.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_22",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_22",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_22.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_23",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_23",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_23.hdf5",
"verdict": "success"
},
{
"sample": "stack_three_color_cubes_ep1_episode_24",
"task_id": "stack_three_color_cubes_ep1",
"episode": "episode_24",
"robot": "agilex",
"hdf5": "episodes/stack_three_color_cubes_ep1/episode_24.hdf5",
"verdict": "success"
}
]
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