| [ |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_35", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_35", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_35.hdf5", |
| "verdict": "fail", |
| "onset": 2.682842, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right arm incorrectly targeted the cup instead of the socket.\nResult: The right arm failed to align with and grasp the socket.", |
| "avoidance": "The right arm needs to align with the socket." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_50", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_50", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_50.hdf5", |
| "verdict": "fail", |
| "onset": 2.968944, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper is offset significantly to the right and backward relative to the powerboard.\nResult: The right gripper failed to grasp the powerboard.", |
| "avoidance": "Move the right gripper to the left and forward significantly." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_55", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_55", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_55.hdf5", |
| "verdict": "fail", |
| "onset": 3.826709, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper approached the socket, offset slightly upward.\nResult: The right gripper failed to grasp and move the socket.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_66", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_66", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_66.hdf5", |
| "verdict": "fail", |
| "onset": 2.6686750000000004, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right arm approached the socket with its orientation misaligned relative to the socket.\nResult: The right gripper did not grasp the socket.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_79", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_79", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_79.hdf5", |
| "verdict": "fail", |
| "onset": 2.1744114999999997, |
| "type": [ |
| "wrong_object", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper approached the cable instead of the powerboard during the alignment stage, which is offset slightly to the right and slightly backward.\nResult: The right gripper did not engage the socket.", |
| "avoidance": "Align the right gripper with the socket instead of the cable by moving the right gripper slightly to the left and slightly forward." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_92", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_92", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_92.hdf5", |
| "verdict": "fail", |
| "onset": 2.2870865, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper approached the socket, offset slightly to the right and slightly forward.\nResult: The right gripper failed to grasp the socket.", |
| "avoidance": "Move the right gripper slightly to the left and slightly backward." |
| }, |
| { |
| "sample": "grab_socket_unplug_charger_ep1_episode_148", |
| "task_id": "grab_socket_unplug_charger_ep1", |
| "episode": "episode_148", |
| "robot": "agilex", |
| "hdf5": "episodes/grab_socket_unplug_charger_ep1/episode_148.hdf5", |
| "verdict": "fail", |
| "onset": 6.069894, |
| "type": [ |
| "translation_error", |
| "avoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: A human hand intervened to reposition the socket during the robot’s approach, interfering with the planned approach where the right gripper was offset slightly to the left, backward, and upward.\nResult: The right gripper failed to grasp the socket.", |
| "avoidance": "Move the right gripper to the right, forward, and slightly downward to realign with the socket." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_0", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_2", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_6", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_6.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_12", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_12.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_18", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_18", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_18.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_34", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_34", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_34.hdf5", |
| "verdict": "fail", |
| "onset": 3.354262, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The right gripper grasped the red cube while the left arm did not approach to lift the lid off the pot.\nResult: The left gripper failed to approach and lift the pot lid.", |
| "avoidance": "Move the left gripper to align with the pot lid and lift it, then pick up the red cube with the right arm." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_41", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_41", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_41.hdf5", |
| "verdict": "fail", |
| "onset": 3.586578, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The right gripper lifts the lid off the pot instead of the left gripper.\nResult: The left gripper didn't lift the lid off.", |
| "avoidance": "The left gripper moves to lift the lid off." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_48", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_48", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_48.hdf5", |
| "verdict": "fail", |
| "onset": 5.339894, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper grasped the blue cube instead of the red cube\nResult: the right gripper failed to place the red cube into the pot.", |
| "avoidance": "the right gripper should grasp the red cube instead of blue one." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_61", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_61", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_61.hdf5", |
| "verdict": "fail", |
| "onset": 4.6561045, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper offset slightly to the left and upward relative to the red cube.\nResult: the right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper slightly to the right and downward." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_64", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 4.825263, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper approached the red cube offset significantly to the right.\nResult: the right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper significantly to the left." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_74", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_74", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_74.hdf5", |
| "verdict": "fail", |
| "onset": 4.908208, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The left gripper approached the lid with its orientation misaligned relative to the lid.\nResult: The left gripper failed to grasp the lid.", |
| "avoidance": "Rotate the left gripper clockwise before grasping." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_80", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_80", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_80.hdf5", |
| "verdict": "fail", |
| "onset": 3.4608410000000003, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The left gripper approached the pot lid handle with its orientation misaligned relative to the pot lid handle.\nResult: The gripper failed to securely engage the lid handle, preventing lid removal.", |
| "avoidance": "Rotate the left gripper clockwise." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_99", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_99", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_99.hdf5", |
| "verdict": "fail", |
| "onset": 3.938944, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The left gripper did not open to grasp the pot lid.\nResult: The left gripper failed to grasp and move the pot lid.", |
| "avoidance": "Open the left gripper before grasping." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_118", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_118", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_118.hdf5", |
| "verdict": "fail", |
| "onset": 6.370863, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the red cube into the pot.\nObservation: The right gripper hovers above the the pot without releasing the red cube into the open pot.\nResult: The red cube failed to release the red cube into the open pot.", |
| "avoidance": "Release the right gripper while over the open pot." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_125", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_125", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_125.hdf5", |
| "verdict": "fail", |
| "onset": 4.102452, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the pot lid with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the pot lid.\nResult: The left arm did not grasp the lid.", |
| "avoidance": "Close the left gripper sufficiently to grasp the lid handle." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_132", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_132", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_132.hdf5", |
| "verdict": "fail", |
| "onset": 5.9810055, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the red cube with the right arm.\nObservation: the right gripper failed to close with sufficient force to grasp the red cube\nResult: the right gripper failed to grasp the red cube", |
| "avoidance": "Close the right gripper during grasping." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_136", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_136", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_136.hdf5", |
| "verdict": "fail", |
| "onset": 4.799677, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the pot.\nObservation: the right gripper failed to maintain a secure grasp on the red cube during the alignment phase, causing the red cube to drop midway\nResult: the right gripper failed to place the red cube into the pot.", |
| "avoidance": "Close the right gripper tightly to secure the red cube when moving." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_140", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_140", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_140.hdf5", |
| "verdict": "fail", |
| "onset": 2.71821, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The pot lid handle has been occluded by a human hand, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the pot lid handle.", |
| "avoidance": "This is unavoidable; the pot lid handle is occluded." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_146", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_146", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_146.hdf5", |
| "verdict": "fail", |
| "onset": 8.039999, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: A human hand takes away the red cube from the table, which prevents the right gripper from aligning with it.\nResult: The right gripper failed to grasp the red cube.", |
| "avoidance": "This is unavoidable; the target object has been taken away by a human." |
| }, |
| { |
| "sample": "lift_lid_and_place_cube_ep1_episode_150", |
| "task_id": "lift_lid_and_place_cube_ep1", |
| "episode": "episode_150", |
| "robot": "agilex", |
| "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_150.hdf5", |
| "verdict": "fail", |
| "onset": 3.971454, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot lid.\nObservation: The left gripper approached the lid offset significantly to the left and slightly backward during lid alignment, causing it to miss the handle.\nResult: The left gripper failed to grasp the lid handle.", |
| "avoidance": "Move the left gripper to the right significantly and forward slightly." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_0", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_15", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_15.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_26", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_26", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_26.hdf5", |
| "verdict": "fail", |
| "onset": 4.3763760000000005, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right arm's approach trajectory was misaligned with the marker’s position in the cup; the gripper was far offset to the left relative to the marker.\nResult: The right arm failed to grasp the marker.", |
| "avoidance": "Move the right arm to the right significantly to align with the green cup." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_29", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_29", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_29.hdf5", |
| "verdict": "fail", |
| "onset": 5.72021, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Lower the right arm to touch the table with the marker.\nObservation: The right arm placed the marker back into the green cup without drawing the cross on the table first.\nResult: The right arm failed to draw a black cross on the table.", |
| "avoidance": "Use the right arm to move the marker to touch the table first, then draw a black cross." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_30", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_30", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_30.hdf5", |
| "verdict": "fail", |
| "onset": 20.33596, |
| "type": [ |
| "open_error", |
| "wrong_placement", |
| "translation_error" |
| ], |
| "reason": "Expected: Release the marker into the green cup.\nObservation: The right gripper failed to put the marker back in the cup after drawing a cross, not performing this step.\nResult: The right gripper failed to put the marker back in the cup.", |
| "avoidance": "Release the pen to place." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_34", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_34", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_34.hdf5", |
| "verdict": "fail", |
| "onset": 5.929466, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to a position above the table.\nObservation: The right arm lifted the marker and then immediately put it back into the cup.\nResult: The right arm failed to move the marker outside the cup to draw a black cross.", |
| "avoidance": "Use the right gripper to move the marker above the table for drawing first." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_40", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_40", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_40.hdf5", |
| "verdict": "fail", |
| "onset": 2.70242, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper grasped the wrong marker, the one lying on the table instead of the one inside the green cup.\nResult: The right gripper failed to grasp the marker in the green cup.", |
| "avoidance": "Move the right arm to approach and align with the green cup instead of the marker lying on the table." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_51", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_51", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_51.hdf5", |
| "verdict": "fail", |
| "onset": 3.628684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper approached the marker inside the cup, offset slightly to the left and slightly upward.\nResult: The gripper failed to grasp the marker.", |
| "avoidance": "Move the right gripper slightly to the right and slightly downward." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_54", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_54", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_54.hdf5", |
| "verdict": "fail", |
| "onset": 2.8231954999999997, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: the right gripper moved inside the cup, offset slightly forward relative to the marker\nResult: the right gripper failed to grasp the pen", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_72", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_72", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_72.hdf5", |
| "verdict": "fail", |
| "onset": 18.461684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cup.\nObservation: The right gripper was positioned slightly offset to the right of the green cup when putting the pen back into the green cup.\nResult: The pen was not put back into the green cup.", |
| "avoidance": "Move the right gripper slightly to the left to align with the green cup." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_84", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_84", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_84.hdf5", |
| "verdict": "fail", |
| "onset": 6.685537, |
| "type": [ |
| "orientation_error", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: the right gripper approached the marker with its orientation misaligned relative to the marker also the opsition is too high to grasp.\nResult: the right gripper failed to grasp the marker.", |
| "avoidance": "Rotate the right gripper clockwise and move it downward before grasping." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_93", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_93", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_93.hdf5", |
| "verdict": "fail", |
| "onset": 12.236257, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cup.\nObservation: the right gripper with marker approached the cup offset significantly to the left and significantly forward with its orientation misaligned relative to the marker, causing it to miss the marker and drop it\nResult: the right gripper failed to put the marker into the green cup", |
| "avoidance": "Move the right gripper significantly to the right and backward, and rotate the right arm to make the marker vertical." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_95", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_95", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_95.hdf5", |
| "verdict": "fail", |
| "onset": 5.305263, |
| "type": [ |
| "orientation_error", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper is offset slightly backward with its orientation misaligned relative to the green cup.\nResult: The right gripper failed to grasp the marker.", |
| "avoidance": "Move the right gripper slightly forward and rotate it clockwise." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_100", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_100", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_100.hdf5", |
| "verdict": "fail", |
| "onset": 3.76, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: the target object has been occluded, which prevents the right gripper from grasping it\nResult: the right gripper failed to grasp the marker in the green cup", |
| "avoidance": "This is unavoidable; the target object has been occluded." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_108", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_108", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_108.hdf5", |
| "verdict": "fail", |
| "onset": 15.48, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cup.\nObservation: an item has been placed above the cup, which prevents the right gripper from placing the marker back into the green cup.\nResult: the right gripper failed to put the marker into the green cup.", |
| "avoidance": "This is unavoidable; the green cup is occluded." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_135", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_135", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_135.hdf5", |
| "verdict": "fail", |
| "onset": 11.291676500000001, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the marker into the green cup.\nObservation: The marker remained gripped and did not drop into the cup.\nResult: The right gripper failed to release the marker when it was already in the cup after drawing.", |
| "avoidance": "Open the right gripper to release the marker." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_140", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_140", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_140.hdf5", |
| "verdict": "fail", |
| "onset": 3.4615425, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to a position above the table.\nObservation: the right gripper failed to maintain a secure grasp on the marker.\nResult: the right gripper failed to hold the marker and draw a black cross mark on the table.", |
| "avoidance": "Close the right gripper while moving" |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_158", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_158", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_158.hdf5", |
| "verdict": "fail", |
| "onset": 12.341578, |
| "type": [ |
| "translation_error", |
| "avoidable_intervention", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cup.\nObservation: The human hand moved the green cup backward, interfering with the right gripper's ability to realign with it, resulting in a severe forward offset during release.\nResult: The right gripper failed to release the marker into the green cup.", |
| "avoidance": "Move the right gripper backward significantly to realign with the cup." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep1_episode_159", |
| "task_id": "pick_marker_draw_cross_ep1", |
| "episode": "episode_159", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_159.hdf5", |
| "verdict": "fail", |
| "onset": 16.250526, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cup.\nObservation: The human hand moved the green cup to the left and backward, interfering with the right gripper, which approached the green cup offset significantly to the right and significantly forward.\nResult: The right gripper placed the marker beside the cup instead of inside it.", |
| "avoidance": "Move the right gripper significantly to the left and backward to realign with the cup." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_0", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_0.hdf5", |
| "verdict": "fail", |
| "onset": 2.92, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper moves far away from the marker. \nResult: The right gripper did not pick up the marker from the green cup.", |
| "avoidance": "The right gripper moves to align with the green cup." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_1", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_1.hdf5", |
| "verdict": "fail", |
| "onset": 1.159995, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper approached the marker, offset significantly to the right and significantly upward.\nResult: The gripper could not securely grasp the marker.", |
| "avoidance": "Move the right gripper significantly to the left and downward." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_5", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 1.559994, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper approached, offset significantly forward and significantly upward.\nResult: The right gripper failed to engage the marker.", |
| "avoidance": "Move the right gripper significantly backward and downward before grasping." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_6", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 2.28, |
| "type": [ |
| "translation_error", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper failed to approach the green cup, is offset far left and forward relative to the marker.\nResult: The right gripper failed to grasp the marker.", |
| "avoidance": "Move the right gripper significantly to the right and backward." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_8", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 1.72137, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: the right gripper approached the marker in the green cup offset significantly to the left and significantly forward.\nResult: the right gripper failed to grasp the green marker.", |
| "avoidance": "Move the right gripper to the right significantly and backward significantly." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_10", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 2.04, |
| "type": [ |
| "translation_error", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper failed to approach the green cup and is offset far left, forward, and upward relative to the marker.\nResult: The right gripper failed to grasp the marker.", |
| "avoidance": "Move the right gripper significantly to the right, backward, and downward." |
| }, |
| { |
| "sample": "pick_marker_draw_cross_ep2_episode_17", |
| "task_id": "pick_marker_draw_cross_ep2", |
| "episode": "episode_17", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_marker_draw_cross_ep2/episode_17.hdf5", |
| "verdict": "fail", |
| "onset": 3.64, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the green cup.\nObservation: The right gripper is significantly offset to the left, forward, and upward relative to the marker inside the cup.\nResult: The right gripper failed to grasp and move the marker.", |
| "avoidance": "Move the right gripper significantly to the right, backward, and downward." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_0", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_1", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_2", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_3", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 3.200575, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: The right gripper, not the left, was commanded to approach the mouse, violating the task plan.\nResult: The wrong arm executed the motion, leading to an incorrect grasp attempt.", |
| "avoidance": "Execute with left arm instead." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_4", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 2.746631, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: the left gripper incorrectly selected and manipulated the remote control instead of the mouse.\nResult: the left gripper failed to grasp the right object.", |
| "avoidance": "The left gripper needs to grasp the mouse." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_5", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 2.926876, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: the right gripper, not the left, approached the mouse.\nResult: the wrong arm approached the mouse and grasped it.", |
| "avoidance": "Move the left arm, instead of the right arm, to the mouse." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_6", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 3.1032529999999996, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: the right gripper, not the left, was commanded to approach the mouse\nResult: the wrong arm executed the motion, leading to an incorrect grasp attempt", |
| "avoidance": "Move the left arm to grasp the mouse." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_7", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 3.078755, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: The left gripper approached the mouse, offset slightly to the left.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_8", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 2.641263, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: the left gripper approached the mouse offset slightly backward\nResult: the left gripper failed to grasp the mouse", |
| "avoidance": "Move the left gripper to the forward slightly." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_9", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 5.0706644999999995, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: the left gripper approached the mouse with its orientation misaligned relative to the mouse.\nResult: the left gripper failed to grasp the mouse", |
| "avoidance": "Rotate the left gripper clockwise by around 90 degrees to align with the mouse." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_10", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 4.045263, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: The left gripper is offset slightly to the right and significantly forward relative to the mouse.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper slightly to the left and significantly backward." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_11", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 4.359917, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: The left gripper is offset significantly backward relative to the mouse.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper forward significantly." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_12", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 3.908157, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the mouse.\nObservation: The left gripper approached the mouse offset slightly to the left and slightly forward, a misalignment.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper to the right slightly and backward slightly." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_13", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 3.357105, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the mouse.\nObservation: The left gripper failed to close sufficiently to grasp the mouse.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Close the left gripper to grasp the mouse." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_14", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 3.411148, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the middle of the laptop.\nObservation: The left gripper dropped the mouse when aligning with the laptop.\nResult: The left gripper failed to move and place the mouse on the middle of the laptop.", |
| "avoidance": "Close the left gripper tightly to secure the mouse during movement." |
| }, |
| { |
| "sample": "pick_mouse_place_laptop_episode_15", |
| "task_id": "pick_mouse_place_laptop", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_mouse_place_laptop/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 5.054736, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the mouse on the middle of the laptop.\nObservation: The left gripper is holding the mouse without releasing it when it arrives at the target location.\nResult: The left gripper failed to release the mouse on the middle of the laptop.", |
| "avoidance": "Release the left gripper to place the mouse." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_2", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_27", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_27", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_27.hdf5", |
| "verdict": "fail", |
| "onset": 7.424315, |
| "type": [ |
| "avoidable_intervention", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The human hand moved the object forward, interfering with the right gripper's realignment with it, and the right gripper approached the object offset slightly backward, failing to align its grasp pose correctly.\nResult: The right gripper failed to grasp the object.", |
| "avoidance": "Move the right gripper slightly forward to realign with the object." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_33", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_33", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_33.hdf5", |
| "verdict": "fail", |
| "onset": 7.430526, |
| "type": [ |
| "translation_error", |
| "avoidable_intervention", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: The human hand moved the black box to the left, interfering with the right gripper and causing it to fail to realign with it, offset to the right significantly.\nResult: The right gripper failed to release the object into the black box.", |
| "avoidance": "Move the right gripper significantly to the left to realign with the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_37", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_37", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_37.hdf5", |
| "verdict": "fail", |
| "onset": 5.08, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The red marker has been taken away by a human, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the marker.", |
| "avoidance": "This is unavoidable; the target object has been taken away by a human." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_38", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_38", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_38.hdf5", |
| "verdict": "fail", |
| "onset": 5.16, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: a case occluded the target object, which prevented the right gripper from grasping it\nResult: the right gripper failed to grasp the object", |
| "avoidance": "This is unavoidable; the target object has been occluded." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_43", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_43", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_43.hdf5", |
| "verdict": "fail", |
| "onset": 6.64, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: A case occluded the target black box, which prevented the right gripper from placing the green object into it.\nResult: The right gripper failed to place the green object in the black box on the left.", |
| "avoidance": "This is unavoidable; the target black box is occluded." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_45", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_45", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_45.hdf5", |
| "verdict": "fail", |
| "onset": 5.536736, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: the right gripper approached the object offset slightly to the right with its orientation misaligned relative to the object\nResult: The gripper fails to align its grasp pose and grasp the object", |
| "avoidance": "The right gripper should offset slightly to the left and rotate slightly anti-clockwise to align with the object." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_47", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_47", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_47.hdf5", |
| "verdict": "fail", |
| "onset": 3.031366, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: the right gripper approached the object offset slightly to the right, forward, and upward.\nResult: The gripper could not execute a stable grasp", |
| "avoidance": "Move the right gripper to the left slightly, backward slightly, downward slightly" |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_51", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_51", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_51.hdf5", |
| "verdict": "fail", |
| "onset": 5.179157, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object with a significant forward offset relative to the object.\nResult: The right gripper could not grasp the object.", |
| "avoidance": "Move the right gripper to the left and backward significantly." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_53", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_53", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_53.hdf5", |
| "verdict": "fail", |
| "onset": 4.9336424999999995, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object, offset slightly to the right and slightly forward, failing to align its grasp pose correctly.\nResult: The gripper could not execute a stable grasp.", |
| "avoidance": "Move the right gripper slightly to the left and slightly backward during object alignment." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_59", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_59", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_59.hdf5", |
| "verdict": "fail", |
| "onset": 3.671999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object, offset slightly forward.\nResult: The right gripper failed to grasp the object.", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_64", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 3.978174, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: the right gripper approached the object offset slightly to the right and slightly forward\nResult: the right gripper failed to grasp the object.", |
| "avoidance": "Move the right gripper to the left slightly and backward slightly." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_72", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_72", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_72.hdf5", |
| "verdict": "fail", |
| "onset": 5.130474, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: The right gripper placed the remote control into the white basket.\nResult: The right gripper failed to place the object into the black box.", |
| "avoidance": "The right gripper should place the object in the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_77", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_77", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_77.hdf5", |
| "verdict": "fail", |
| "onset": 5.500011499999999, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: The right arm placed the object on the plate instead of directly into the black box.\nResult: The right arm placed the object on the plate.", |
| "avoidance": "The right arm needs to place the object into the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_81", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_81", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_81.hdf5", |
| "verdict": "fail", |
| "onset": 3.3047255, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\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_object_place_left_box_ep1_episode_82", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_82", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_82.hdf5", |
| "verdict": "fail", |
| "onset": 4.7565740000000005, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the marker with its orientation misaligned relative to the marker.\nResult: The object could not be grasped.", |
| "avoidance": "Rotate the right gripper counterclockwise." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_89", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_89", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_89.hdf5", |
| "verdict": "fail", |
| "onset": 4.57797, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object with its orientation anticlockwise to the object.\nResult: the right gripper failed to grasp the object.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_106", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_106", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_106.hdf5", |
| "verdict": "fail", |
| "onset": 11.76, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the object into the black box.\nObservation: The right gripper is still holding the can and failed to release it into the black box.\nResult: The right gripper failed to release the can into the black box.", |
| "avoidance": "Release the right gripper when the can is above the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_130", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_130", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_130.hdf5", |
| "verdict": "fail", |
| "onset": 4.9328275, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the object.\nObservation: the right gripper failed to close sufficiently to grasp the object during the 'Grasp the object' subtask.\nResult: the object was not secured and remained on the table.", |
| "avoidance": "Close the right gripper sufficiently" |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep1_episode_148", |
| "task_id": "pick_object_place_left_box_ep1", |
| "episode": "episode_148", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep1/episode_148.hdf5", |
| "verdict": "fail", |
| "onset": 6.536579, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: the right gripper approached the black box offset slightly forward during the approach to the black box, causing the object to be dropped.\nResult: the right gripper failed to place the object inside the black box", |
| "avoidance": "Move the right gripper slightly backward to align the object inside the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_0", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_0.hdf5", |
| "verdict": "fail", |
| "onset": 6.4358695, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: The right gripper dropped the object in the wrong place on the table, where it is offset slightly relative to the black box.\nResult: The right gripper failed to place the object in the black box.", |
| "avoidance": "Move the right gripper forward slightly to align with the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_5", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 7.286249, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: the right gripper approached the black box offset slightly to the left during the approach to the black box\nResult: The object was not placed into the black box.", |
| "avoidance": "Move the right gripper to the right slightly" |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_6", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 7.607768, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: The right gripper placed the object on the table instead of in the black box, which offset the target significantly backward.\nResult: The right gripper failed to place the object in the black box.", |
| "avoidance": "Move the right gripper forward significantly to align with the black box." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_11", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 8.411978, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: the right gripper approached the object offset slightly to the right, slightly backward, and slightly upward.\nResult: the right gripper failed to align with and grasp the object.", |
| "avoidance": "Move the right gripper slightly to the left, slightly forward, and slightly downward before grasping." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_16", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_16.hdf5", |
| "verdict": "fail", |
| "onset": 2.1828445, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: the right gripper is offset slightly to the right relative to the object.\nResult: the right gripper failed to grasp the object.", |
| "avoidance": "Move the right gripper slightly to the left." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_27", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_27", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_27.hdf5", |
| "verdict": "fail", |
| "onset": 2.605699, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object, offset slightly upward.\nResult: The right gripper failed to grasp the object on the table.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_28", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_28", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_28.hdf5", |
| "verdict": "fail", |
| "onset": 4.7115375, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the object on the table.\nObservation: The right gripper approached the object offset slightly upward before grasping\nResult: The gipper failed to grasp the pen", |
| "avoidance": "The gripper should move slightly downward before grasping" |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_31", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_31", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_31.hdf5", |
| "verdict": "fail", |
| "onset": 4.300188, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the object.\nObservation: The right gripper did not close to grasp the object.\nResult: The left gripper failed to grasp the object, and the object was left on the table.", |
| "avoidance": "Close the right gripper." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_34", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_34", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_34.hdf5", |
| "verdict": "fail", |
| "onset": 4.659479, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the object.\nObservation: the right gripper failed to close with sufficient force to grasp the object.\nResult: the right gripper failed to lift the object.", |
| "avoidance": "Close the right gripper while moving." |
| }, |
| { |
| "sample": "pick_object_place_left_box_ep2_episode_35", |
| "task_id": "pick_object_place_left_box_ep2", |
| "episode": "episode_35", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_object_place_left_box_ep2/episode_35.hdf5", |
| "verdict": "fail", |
| "onset": 4.462525, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the black box on the left.\nObservation: the right gripper slipped the object while moving to the black box on the left.\nResult: the gripper failed to move the object to the black box on the left", |
| "avoidance": "Close the right gripper tightly to secure the object while moving towards the black box." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_24", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_24", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_24.hdf5", |
| "verdict": "fail", |
| "onset": 4.278526, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: the right gripper approached the orange block offset slightly to the left and slightly upward during approach to the orange block.\nResult: the right gripper failed to grasp the orange block.", |
| "avoidance": "Move the right gripper to the right slightly and downward slightly before grasping the orange block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_25", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_25", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_25.hdf5", |
| "verdict": "fail", |
| "onset": 5.9618415, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: The right gripper approached the bowl, offset significantly to the right and significantly forward.\nResult: The right gripper failed to align the orange block with the pink bowl.", |
| "avoidance": "Move the right gripper to the left significantly, and backward significantly." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_28", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_28", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_28.hdf5", |
| "verdict": "fail", |
| "onset": 12.118992, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: The left gripper approached the microwave door handle, offset slightly to the left during the approach.\nResult: The arm failed to grasp the microwave door handle.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_30", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_30", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_30.hdf5", |
| "verdict": "fail", |
| "onset": 16.720918, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: The left gripper approached the microwave door handle, offset slightly to the right.\nResult: The left gripper failed to grasp the microwave door handle.", |
| "avoidance": "Move the left gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_44", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_44", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_44.hdf5", |
| "verdict": "fail", |
| "onset": 3.0341305, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: the right gripper incorrectly selected and grasped the green block instead of the orange block during the alignment subtask\nResult: The gripper did not grasp the orange block.", |
| "avoidance": "The right gripper should move to align with the orange block instead of the green block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_45", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_45", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_45.hdf5", |
| "verdict": "fail", |
| "onset": 2.7728390000000003, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: the right gripper incorrectly selected and grasped the blue block instead of the orange block.\nResult: the right gripper grasped the wrong object.", |
| "avoidance": "The right gripper needs to grasp the orange block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_51", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_51", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_51.hdf5", |
| "verdict": "fail", |
| "onset": 3.3061575, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: the right gripper approached the orange block offset significantly to the right and significantly forward.\nResult: the right gripper failed to grasp the orange block.", |
| "avoidance": "Move the right gripper significantly to the left and significantly backward before grasping." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_53", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_53", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_53.hdf5", |
| "verdict": "fail", |
| "onset": 4.467894, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right arm is forward and to the right of the orange block.\nResult: The right gripper failed to pick up the orange block and place it in the bowl.", |
| "avoidance": "The right gripper moves backward and to the left to align with the orange block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_58", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_58", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_58.hdf5", |
| "verdict": "fail", |
| "onset": 4.8068235, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper is offset significantly backward relative to the orange block.\nResult: The right gripper failed to grasp and move the orange block.", |
| "avoidance": "Move the right gripper forward significantly." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_62", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_62", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_62.hdf5", |
| "verdict": "fail", |
| "onset": 7.843026, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: The task failed because the right gripper approached the bowl slightly offset to the left, causing it to miss the target.\nResult: The right gripper did not release and place the orange block into the bowl.", |
| "avoidance": "Move the right arm significantly to the right to align with the bowl." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_64", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 4.3135259999999995, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper is offset significantly to the left and forward relative to the orange block.\nResult: The right gripper failed to grasp the orange block.", |
| "avoidance": "Move the right gripper to the right and backward significantly." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_68", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_68", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_68.hdf5", |
| "verdict": "fail", |
| "onset": 4.772086, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: The right gripper failed to close tightly after grasping the orange block.\nResult: The gripper could not place the orange block into the bowl during the alignment subtask.", |
| "avoidance": "Close the right gripper more tightly during the alignment subtask." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_84", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_84", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_84.hdf5", |
| "verdict": "fail", |
| "onset": 14.951842, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Open the microwave door with the left arm.\nObservation: the left gripper failed to open the microwave door due to insufficient grip force.\nResult: the door remained closed", |
| "avoidance": "The left gripper should grasp the handle of the microwave door with greater force." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_85", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_85", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_85.hdf5", |
| "verdict": "fail", |
| "onset": 14.349473, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: The left gripper approached the microwave door handle, offset slightly to the left, with its orientation misaligned relative to the microwave door handle.\nResult: The left gripper failed to grasp the microwave door handle.", |
| "avoidance": "Move the left gripper slightly to the right and rotate it clockwise." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_91", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_91", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_91.hdf5", |
| "verdict": "fail", |
| "onset": 17.926412, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: The right gripper approached the bowl, offset slightly to the left.\nResult: The right gripper failed to align the bowl.", |
| "avoidance": "Move the right gripper to the right slightly." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_92", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_92", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_92.hdf5", |
| "verdict": "fail", |
| "onset": 20.372279499999998, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: the right gripper approached the bowl offset slightly to the right and significantly forward\nResult: the right gripper failed to grasp the bowl", |
| "avoidance": "Move the right gripper slightly to the left and significantly backward." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_128", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_128", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_128.hdf5", |
| "verdict": "fail", |
| "onset": 13.243368, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: the left gripper approached the microwave door handle offset slightly to the left during the approach\nResult: The left gripper failed to align with the microwave handle and open the door.", |
| "avoidance": "Left gripper should move right and rotate clockwise to align with the handle." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_142", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_142", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_142.hdf5", |
| "verdict": "fail", |
| "onset": 3.687233, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper approached the orange block, offset slightly forward during the approach.\nResult: The gripper could not grasp the orange block.", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_143", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_143", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_143.hdf5", |
| "verdict": "fail", |
| "onset": 5.282149, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the bowl.\nObservation: The right gripper approached the bowl offset slightly to the left, causing it to drop the orange block on the table.\nResult: The right gripper failed to place the orange block into the bowl.", |
| "avoidance": "Move the right gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_150", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_150", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_150.hdf5", |
| "verdict": "fail", |
| "onset": 5.0166045, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper is offset slightly forward relative to the orange block.\nResult: The right gripper failed to grasp and move the orange block.", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_154", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_154", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_154.hdf5", |
| "verdict": "fail", |
| "onset": 3.77721, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper approached the orange block, offset slightly to the left, slightly forward, and slightly upward.\nResult: The right gripper failed to grasp the orange block.", |
| "avoidance": "Move the right gripper slightly to the right, slightly backward, and slightly downward before grasping." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_162", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_162", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_162.hdf5", |
| "verdict": "fail", |
| "onset": 3.625498, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper approached the orange block, offset slightly to the left and slightly forward.\nResult: The right gripper failed to grasp the orange block.", |
| "avoidance": "Move the right gripper to the right slightly, and backward slightly." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_168", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_168", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_168.hdf5", |
| "verdict": "fail", |
| "onset": 2.822682, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper approached the orange block, offset slightly to the left, slightly forward, and slightly upward.\nResult: The right arm failed to grasp the orange block.", |
| "avoidance": "Move the right gripper slightly to the right, slightly backward, and slightly downward." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_171", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_171", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_171.hdf5", |
| "verdict": "fail", |
| "onset": 12.524818, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Open the microwave door with the left arm.\nObservation: The left gripper did not use sufficient grip force on the microwave handle.\nResult: The left gripper failed to open the microwave door.", |
| "avoidance": "Close the left gripper before opening the microwave." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_174", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_174", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_174.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_203", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_203", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_203.hdf5", |
| "verdict": "fail", |
| "onset": 11.610264, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: The left gripper approached the microwave door handle, offset slightly to the left and significantly downward.\nResult: The left gripper failed to grasp the microwave door handle.", |
| "avoidance": "Move the left gripper slightly to the right and significantly upward before grasping." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_225", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_225", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_225.hdf5", |
| "verdict": "fail", |
| "onset": 2.693156, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper approached the orange block offset slightly forward during the approach to the orange block.\nResult: The right gripper failed to grasp the orange block.", |
| "avoidance": "The right gripper moves backward slightly to align with the orange block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_227", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_227", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_227.hdf5", |
| "verdict": "fail", |
| "onset": 5.664, |
| "type": [ |
| "open_error", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper failed to open to grasp the orange block.\nResult: The right gripper failed to grasp and move the block into the bowl.", |
| "avoidance": "Open the right gripper to make sure it is wider than the block." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_229", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_229", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_229.hdf5", |
| "verdict": "fail", |
| "onset": 10.688084, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the microwave door handle.\nObservation: the left gripper approached the microwave door handle, offset slightly to the right, with its orientation misaligned relative to the microwave door handle.\nResult: the left gripper failed to align with and grasp the microwave door handle.", |
| "avoidance": "Move the left gripper slightly to the left, and rotate the left gripper clockwise before grasping." |
| }, |
| { |
| "sample": "pick_orange_block_place_into_microwave_episode_243", |
| "task_id": "pick_orange_block_place_into_microwave", |
| "episode": "episode_243", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_243.hdf5", |
| "verdict": "fail", |
| "onset": 22.47747, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the inside of the microwave.\nObservation: The right gripper approached the bowl, offset significantly to the right and significantly backward.\nResult: The right gripper failed to put the pink bowl into the microwave.", |
| "avoidance": "Move the right gripper significantly to the left and forward before releasing the bowl." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_0", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_1", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_2", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_3", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 5.707865, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to transfer the pen towards the right arm.\nObservation: The left gripper dropped the pen into the plate directly instead of transferring it to the right arm.\nResult: The left gripper failed to transfer the pen towards the right arm.", |
| "avoidance": "Move the left arm to transfer the pen towards the right arm." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_4", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 2.3803825, |
| "type": [ |
| "wrong_gripper", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: The right pen was grasped and transferred to the left arm, and the left arm placed it in the blue plate, violating the planned execution order.\nResult: The left arm failed to grasp the pen at the beginning.", |
| "avoidance": "Move the left arm instead of the right arm to approach and align the pen first." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_5", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 3.253202, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: he left gripper incorrectly targeted and grasped the remote control instead of the pen during the approach phase.\nResult: the wrong object was picked up", |
| "avoidance": "Move the left arm to approach and align the pen instead of the controller." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_6", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 3.2792, |
| "type": [ |
| "wrong_sequence", |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: The right gripper incorrectly attempted to grasp the pen instead of the left gripper.\nResult: The task failed because of a violation of the planned execution order.", |
| "avoidance": "Move the left gripper, instead of the right gripper, as planned towards the pen." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_7", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 3.1012744999999997, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: The left gripper approached the pen, offset slightly to the right.\nResult: The left gripper failed to grasp the pen.", |
| "avoidance": "Move the left gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_8", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 5.683314, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: The left gripper orientation is misaligned with the pen before grasping.\nResult: The left gripper failed to grasp the pen.", |
| "avoidance": "Rotate the left gripper clockwise." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_9", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 11.741709499999999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move both arms to align for the pen transfer.\nObservation: The left arm moved the pen to the middle and stopped, but the right arm failed to align. Remaining too far to the right, it left the pen positioned just outside the gripper's reach.\n\nResult: the right gripper could not grasp the pen.", |
| "avoidance": "Move the right gripper to the left slightly during alignment." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_10", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 9.490906500000001, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Grasp the pen with the right arm.\nObservation: The right gripper's orientation is misaligned relative to the pen during the transfer, causing it to miss the pen's grasp point.\nResult: The pen was not grasped during the transfer.", |
| "avoidance": "Rotate the right gripper counterclockwise." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_11", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 3.8294734999999998, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: the left gripper approached the pen offset slightly forward; also, the orientation of the gripper was misaligned with the pen axis.\nResult: the left gripper failed to grasp the pen.", |
| "avoidance": "Move the left gripper backward significantly, and rotate the gripper clockwise." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_12", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 3.343221, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the pen.\nObservation: The left gripper approached the pen offset slightly to the left, misaligning its grasp axis.\nResult: The gripper could not securely grasp the pen.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_13", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 3.461052, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the pen with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the pen.\nResult: The right gripper failed to grasp and move the pen.", |
| "avoidance": "Close the left gripper sufficiently to secure the pen." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_14", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 4.9162099999999995, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to transfer the pen towards the right arm.\nObservation: the left gripper released and slipped the pen while moving.\nResult: the left gripper failed to move the pen into the blue plate.", |
| "avoidance": "Close the left gripper tightly while moving the pen." |
| }, |
| { |
| "sample": "pick_pen_transfer_plate_episode_15", |
| "task_id": "pick_pen_transfer_plate", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_pen_transfer_plate/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 9.3095395, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Place the pen into the blue plate.\nObservation: The right gripper failed to open fully to release the pen into the plate.\nResult: The pen remained clamped in the gripper.", |
| "avoidance": "Open the right gripper to release the pen." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_7", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 3.297891, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset significantly to the left and forward, misaligning its grasp axis.\nResult: the left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper significantly to the right and backward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_28", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_28", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_28.hdf5", |
| "verdict": "fail", |
| "onset": 4.164646, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset slightly to the right, misaligning its grasp axis\nResult: the gripper failed to securely grasp the vial", |
| "avoidance": "Offset the left gripper slightly to the left during the alignment step" |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_29", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_29", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_29.hdf5", |
| "verdict": "fail", |
| "onset": 3.734684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper is offset backward significantly relative to the vial.\nResult: the left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper forward significantly." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_37", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_37", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_37.hdf5", |
| "verdict": "fail", |
| "onset": 8.518299, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper was positioned significantly offset to the right.\nResult: the left gripper failed to insert the vial into the empty slot.", |
| "avoidance": "Move the left gripper significantly to the left before releasing." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_51", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_51", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_51.hdf5", |
| "verdict": "fail", |
| "onset": 3.6853059999999997, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial, offset slightly to the left.\nResult: The left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper slightly to the right before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_58", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_58", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_58.hdf5", |
| "verdict": "fail", |
| "onset": 6.378736, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper was positioned slightly to the left and backward during alignment, causing a collision with the rack.\nResult: The left gripper failed to insert the vial into the empty slot.", |
| "avoidance": "Move the left gripper slightly to the right and forward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_59", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_59", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_59.hdf5", |
| "verdict": "fail", |
| "onset": 15.011118, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube, offset slightly to the right.\nResult: The right gripper failed to secure the tube.", |
| "avoidance": "Move the right gripper slightly to the left." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_62", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_62", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_62.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_69", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_69", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_69.hdf5", |
| "verdict": "fail", |
| "onset": 7.870038, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper was positioned slightly offset to the left during insertion.\nResult: The vial was released with an offset position and fell onto the table.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_72", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_72", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_72.hdf5", |
| "verdict": "fail", |
| "onset": 16.6294725, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the right and backward\nResult: the left gripper failed to grasp the test tube", |
| "avoidance": "Move the right gripper slightly to the left and forward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_78", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_78", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_78.hdf5", |
| "verdict": "fail", |
| "onset": 13.569894999999999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the right, misaligning its grasp axis.\nResult: the gripper failed to grasp the tube", |
| "avoidance": "Move the right gripper to the left slightly." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_98", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_98", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_98.hdf5", |
| "verdict": "fail", |
| "onset": 7.415578, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper was positioned slightly offset to the left and forward during insertion.\nResult: The left gripper did not align with the empty slot and placed the vial outside the target slot.", |
| "avoidance": "Move the left arm right and backward slightly to align with the empty slot." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_99", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_99", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_99.hdf5", |
| "verdict": "fail", |
| "onset": 12.875072, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube offset slightly to the right, misaligning its grasp axis.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly to the left." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_111", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_111", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_111.hdf5", |
| "verdict": "fail", |
| "onset": 5.680744, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial, offset slightly to the left and slightly backward, with its orientation misaligned relative to the vial.\nResult: The vial was not grasped and picked up.", |
| "avoidance": "Move the left gripper slightly to the right and forward, and rotate it counterclockwise to align with the vial." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_121", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_121", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_121.hdf5", |
| "verdict": "fail", |
| "onset": 5.66463, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper released the vial prematurely in mid-air.\nResult: the left gripper failed to place the vial into the empty slot.", |
| "avoidance": "Close the left gripper while moving." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_132", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_132", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_132.hdf5", |
| "verdict": "fail", |
| "onset": 21.877241, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: The right gripper was positioned significantly to the left and forward during insertion, causing the test tube to miss the slot.\nResult: The tube was placed in the incorrect place.", |
| "avoidance": "Move the right gripper to the right and backward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_153", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_153", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_153.hdf5", |
| "verdict": "fail", |
| "onset": 13.549488499999999, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: the right gripper released and slipped the test tube while moving it to the rack, causing it to drop and liquid to spill.\nResult: the right gripper failed to move the test tube to the right empty slot on the rack.", |
| "avoidance": "Close the right gripper tightly while moving the test tube." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_154", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_154", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_154.hdf5", |
| "verdict": "fail", |
| "onset": 22.007028, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: the right gripper was positioned significantly offset to the left and slightly forward.\nResult: the right gripper failed to place the test tube into the empty slot.", |
| "avoidance": "Move the right gripper significantly to the right and slightly backward before releasing." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_156", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_156", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_156.hdf5", |
| "verdict": "fail", |
| "onset": 14.176824, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper is offset significantly upward relative to the test tube.\nResult: the right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper significantly downward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_170", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_170", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_170.hdf5", |
| "verdict": "fail", |
| "onset": 4.143525, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset slightly upward, misaligning its grasp axis.\nResult: The vial isn't grasped by the left gripper.", |
| "avoidance": "Move the left gripper downward to align with the vial before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_179", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_179", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_179.hdf5", |
| "verdict": "fail", |
| "onset": 13.927167, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube, offset slightly to the right.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_184", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_184", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_184.hdf5", |
| "verdict": "fail", |
| "onset": 9.015989999999999, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the vial into the left empty slot\nObservation: the left gripper failed to open fully to release the vial.\nResult: the left gripper failed to place the vial into the empty slot.", |
| "avoidance": "Open the left gripper to release." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_185", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_185", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_185.hdf5", |
| "verdict": "fail", |
| "onset": 3.594103, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial, offset slightly to the left, slightly forward, and slightly upward.\nResult: The gripper failed to securely grasp the vial.", |
| "avoidance": "Move the left gripper to the right slightly, backward slightly, and downward slightly." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_188", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_188", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_188.hdf5", |
| "verdict": "fail", |
| "onset": 10.435130000000001, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper was positioned significantly forward during insertion into the empty slot.\nResult: The left gripper failed to insert the vial into the left empty slot on the rack.", |
| "avoidance": "Move the left gripper significantly backward." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_189", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_189", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_189.hdf5", |
| "verdict": "fail", |
| "onset": 5.180208, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper released and slipped the vial while moving to the rack.\nResult: the left gripper failed to move and place the vial into the left empty slot on the rack.", |
| "avoidance": "Close the left gripper tightly while moving the vial." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_205", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_205", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_205.hdf5", |
| "verdict": "fail", |
| "onset": 12.5133345, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the right.\nResult: the right gripper failed to align with and grasp the test tube.", |
| "avoidance": "Move the right gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_216", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_216", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_216.hdf5", |
| "verdict": "fail", |
| "onset": 15.337625, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the test tube with the right arm.\nObservation: The right gripper failed to close with sufficient force to grasp the test tube.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Close the right gripper while grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_217", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_217", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_217.hdf5", |
| "verdict": "fail", |
| "onset": 5.758337, |
| "type": [ |
| "wrong_placement", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper approached the vial offset slightly to the right and significantly forward during insertion, causing the vial to be dropped instead of placed.\nResult: The left gripper failed to place the vial into the left empty slot.", |
| "avoidance": "Move the left gripper to the left and backward to insert it into the left empty slot on the rack." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_243", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_243", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_243.hdf5", |
| "verdict": "fail", |
| "onset": 15.628026, |
| "type": [ |
| "wrong_placement", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: the gripper moved the test tube back to the original cup instead of to the rack.\nResult: the right gripper failed to move the right arm to align with the right empty slot on the rack.", |
| "avoidance": "Move the right arm to align with the right empty slot on the rack instead of moving back to the original cup." |
| }, |
| { |
| "sample": "pick_place_chem_ep1_episode_245", |
| "task_id": "pick_place_chem_ep1", |
| "episode": "episode_245", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep1/episode_245.hdf5", |
| "verdict": "fail", |
| "onset": 5.597052, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper was positioned slightly to the left and significantly forward.\nResult: the left gripper failed to place the vial into the left empty slot.", |
| "avoidance": "Move the left gripper slightly to the right and significantly backward before placing." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_4", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 4.742315, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the vial with the left arm.\nObservation: the left gripper failed to close with sufficient force to grasp the vial\nResult: the left gripper failed to pick up the vial", |
| "avoidance": "Close the left gripper before lifting." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_15", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 10.3107155, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the left.\nResult: the right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper to the right slightly." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_22", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_22", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_22.hdf5", |
| "verdict": "fail", |
| "onset": 11.147315, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube, offset slightly upward.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_41", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_41", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_41.hdf5", |
| "verdict": "fail", |
| "onset": 4.512269, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial offset significantly to the right and significantly backward.\nResult: The left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper to the left and forward significantly." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_47", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_47", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_47.hdf5", |
| "verdict": "fail", |
| "onset": 3.563818, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the vial with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the vial.\nResult: The left gripper failed to grasp and move the vial to the empty slot.", |
| "avoidance": "Close the left gripper sufficiently to secure the vial when grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_55", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_55", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_55.hdf5", |
| "verdict": "fail", |
| "onset": 8.684627, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the right.\nResult: the right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_64", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 8.920576, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube, offset significantly to the left and backward.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper significantly to the right and forward." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_68", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_68", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_68.hdf5", |
| "verdict": "fail", |
| "onset": 5.091264000000001, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the vial into the left empty slot.\nObservation: the left gripper failed to release the vial after alignment while holding still\nResult: the left gripper failed to place the vial into the left empty slot.", |
| "avoidance": "Release the left gripper to place the vial after alignment." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_78", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_78", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_78.hdf5", |
| "verdict": "fail", |
| "onset": 2.984842, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial offset slightly to the left, misaligning its grasp axis.\nResult: The gripper failed to securely grasp the vial, preventing placement.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_89", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_89", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_89.hdf5", |
| "verdict": "fail", |
| "onset": 2.334315, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset significantly backward.\nResult: the left gripper failed to align with and grasp the vial.", |
| "avoidance": "Move the left gripper forward significantly before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_115", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_115", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_115.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_117", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_117", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_117.hdf5", |
| "verdict": "fail", |
| "onset": 2.2196285, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial offset slightly to the right, misaligning its grasp axis.\nResult: The left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper slightly to the left." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_124", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_124", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_124.hdf5", |
| "verdict": "fail", |
| "onset": 2.495263, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial, offset significantly to the right and forward, misaligning its grasp axis.\nResult: The left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper to the left and backward significantly." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_125", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_125", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_125.hdf5", |
| "verdict": "fail", |
| "onset": 3.455721, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset slightly backward, misaligning its grasp axis.\nResult: the left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper forward slightly to align with the vial." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_127", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_127", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_127.hdf5", |
| "verdict": "fail", |
| "onset": 3.561348, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial, offset significantly to the right\nResult: the left gripper failed to securely grasp the vial", |
| "avoidance": "Move the left gripper to the left significantly before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_134", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_134", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_134.hdf5", |
| "verdict": "fail", |
| "onset": 3.2488815, |
| "type": [ |
| "orientation_error", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial with its orientation misaligned relative to the vial.\nResult: the left gripper failed to grasp the vial.", |
| "avoidance": "Rotate the left gripper clockwise before grasping." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_135", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_135", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_135.hdf5", |
| "verdict": "fail", |
| "onset": 5.1886695, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial with its orientation misaligned relative to the vial\nResult: the left gripper failed to grasp the vial", |
| "avoidance": "Rotate the left gripper clockwise before grasping" |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_156", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_156", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_156.hdf5", |
| "verdict": "fail", |
| "onset": 3.4718185, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper approached the vial offset significantly to the left and significantly backward,\nResult: The gripper failed to securely grasp the vial.", |
| "avoidance": "Move the left gripper to the right significantly, and forward significantly," |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_160", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_160", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_160.hdf5", |
| "verdict": "fail", |
| "onset": 12.894239500000001, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: the right gripper approached the test tube offset slightly to the right, misaligning its grasp axis.\nResult: the gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly to the left." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_165", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_165", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_165.hdf5", |
| "verdict": "fail", |
| "onset": 7.4867135000000005, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube offset to the left and forward, with misalignment.\nResult: The right gripper failed to grasp the tube.", |
| "avoidance": "Move the right gripper to the right and backward." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_174", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_174", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_174.hdf5", |
| "verdict": "fail", |
| "onset": 10.793068, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube with its orientation misaligned relative to the test tube, causing it to collide with the test tube.\nResult: The right gripper failed to pick up the test tube.", |
| "avoidance": "Rotate the right gripper counterclockwise." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_179", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_179", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_179.hdf5", |
| "verdict": "fail", |
| "onset": 10.215206, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube offset slightly to the left, a misalignment.\nResult: The right gripper failed to grasp the tube.", |
| "avoidance": "Move the right gripper slightly to the right." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_190", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_190", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_190.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_192", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_192", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_192.hdf5", |
| "verdict": "fail", |
| "onset": 2.3427724999999997, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial but was significantly misaligned to the left.\nResult: The gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper to the right significantly." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_194", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_194", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_194.hdf5", |
| "verdict": "fail", |
| "onset": 2.824973, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper is offset slightly backward relative to the vial.\nResult: the left gripper failed to grasp and move the vial.", |
| "avoidance": "Move the left gripper slightly forward." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_199", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_199", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_199.hdf5", |
| "verdict": "fail", |
| "onset": 1.5219505, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: the left gripper is offset significantly to the right and backward relative to the vial.\nResult: the left gripper failed to grasp the vial.", |
| "avoidance": "Move the left gripper to the left and forward significantly." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_202", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_202", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_202.hdf5", |
| "verdict": "fail", |
| "onset": 2.567052, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The gripper released the vial prematurely in mid-air.\nResult: The vial fell on the table.", |
| "avoidance": "Close the left gripper while moving." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_205", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_205", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_205.hdf5", |
| "verdict": "fail", |
| "onset": 5.702315, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the vial.\nObservation: The left gripper approached the vial with its orientation misaligned relative to the vial.\nResult: The left gripper failed to grasp the vial.", |
| "avoidance": "Rotate the left gripper clockwise." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_243", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_243", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_243.hdf5", |
| "verdict": "fail", |
| "onset": 3.126315, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper released the vial prematurely in mid-air.\nResult: The vial fell on the table.", |
| "avoidance": "Close the left gripper while moving." |
| }, |
| { |
| "sample": "pick_place_chem_ep2_episode_247", |
| "task_id": "pick_place_chem_ep2", |
| "episode": "episode_247", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_place_chem_ep2/episode_247.hdf5", |
| "verdict": "fail", |
| "onset": 7.787368, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the test tube.\nObservation: The right gripper approached the test tube offset slightly backward, misaligning its grasp axis.\nResult: The right gripper failed to grasp the test tube.", |
| "avoidance": "Move the right gripper slightly forward." |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_0", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_1", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_10", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_10.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_11", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_11.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_12", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_12.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_16", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_16.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_32", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_32", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_32.hdf5", |
| "verdict": "fail", |
| "onset": 2.0518925, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink block on the drawer.\nObservation: The right arm incorrectly targeted the marker instead of the pink block.\nResult: The right arm failed to approach and grasp the pink block.", |
| "avoidance": "Move the right arm to approach and align with the pink block instead of the marker on the drawer." |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_42", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_42", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_42.hdf5", |
| "verdict": "fail", |
| "onset": 4.682526, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink block on the drawer.\nObservation: The right gripper approached the pink block, offset slightly to the left and forward.\nResult: The right gripper failed to grasp the pink block.", |
| "avoidance": "Move the right gripper slightly to the right and backward." |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_75", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_75", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_75.hdf5", |
| "verdict": "fail", |
| "onset": 2.9443665, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink block on the drawer.\nObservation: the right gripper approached the pink block, offset slightly backward.\nResult: the right gripper failed to grasp the pink block.", |
| "avoidance": "Move the right gripper slightly forward before grasping." |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_147", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_147", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_147.hdf5", |
| "verdict": "fail", |
| "onset": 11.52, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the blue block.\nObservation: The human hand occluded the blue block, which prevented the gripper from targeting it.\nResult: The left gripper failed to grasp the blue block.", |
| "avoidance": "This is unavoidable; the target object has been occluded." |
| }, |
| { |
| "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_148", |
| "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", |
| "episode": "episode_148", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_148.hdf5", |
| "verdict": "fail", |
| "onset": 13.6, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the pink block on the table.\nObservation: the human hand occluded the target pink cube, which prevented the left gripper from placing the blue block onto the pink block.\nResult: the left gripper failed to place the blue block onto the pink block.", |
| "avoidance": "This is unavoidable; the target object has been occluded." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_0", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_1", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_2", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_3", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 3.266526, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The left gripper attempted to grasp the tape instead of the right gripper.\nResult: The right gripper failed to approach and grasp the tape.", |
| "avoidance": "Move the right arm instead of the left to approach the tape." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_4", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 3.719863, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The right arm incorrectly selected the green cup instead of the tape.\nResult: The right arm failed to pick up the tape.", |
| "avoidance": "The right arm needs to pick up the tape." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_5", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 3.709105, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The left gripper attempted to grasp the tape instead of the right gripper.\nResult: The right arm did not grasp the tape.", |
| "avoidance": "Move the right arm instead of the left arm." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_6", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 3.0162775, |
| "type": [ |
| "wrong_sequence", |
| "wrong_gripper", |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The left gripper attempted to grasp an object instead of the right gripper.\nResult: The task failed because the wrong arm was used to approach the wrong object, not as planned.", |
| "avoidance": "Move the right arm, instead of the left arm, toward the right object, the tape." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_7", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 2.149052, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the tape.\nObservation: the right gripper approached the tape offset slightly to the right, misaligning its grasp axis relative to the tape’s central hole.\nResult: the tape failed to be picked up", |
| "avoidance": "Move the right gripper to the left slightly before grasping." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_8", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 2.206445, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: the right gripper is offset slightly upward relative to the tape.\nResult: the right gripper failed to grasp the tape.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_9", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 2.3188725000000003, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The right gripper is offset significantly to the right and forward relative to the tape.\nResult: The right gripper failed to grasp the tape.", |
| "avoidance": "Move the right gripper to the left and backward significantly." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_10", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 2.219157, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach the tape.\nObservation: The right gripper approached the tape, offset slightly to the right and slightly backward.\nResult: The right gripper failed to grasp the tape.", |
| "avoidance": "Move the right gripper slightly to the left and forward before grasping." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_11", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 7.266905, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align the tape's central hole with the upright marker on the table.\nObservation: the right gripper was positioned slightly offset to the right\nResult: The right gripper did not allow the tape to pass through the upright mark on the table.", |
| "avoidance": "Move the right gripper slightly to the left before placing the tape." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_12", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 7.8302625, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align the tape's central hole with the upright marker on the table.\nObservation: The right gripper placed the tape and is offset significantly to the left relative to the upright marker.\nResult: The right gripper failed to thread the tape's central hole through the upright marker.", |
| "avoidance": "Move the right gripper to the right significantly." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_13", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 4.9463535, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the tape.\nObservation: The right gripper failed to close sufficiently to grasp the tape.\nResult: The right gripper failed to grasp and move the tape.", |
| "avoidance": "Close the right gripper sufficiently when grasping." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_14", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 3.354946, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the tape.\nObservation: The right gripper failed to close with sufficient force to secure the tape.\nResult: The right gripper failed to hold the tape during movement.", |
| "avoidance": "Close the right gripper while moving." |
| }, |
| { |
| "sample": "pick_tape_thread_marker_episode_15", |
| "task_id": "pick_tape_thread_marker", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pick_tape_thread_marker/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 9.04, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Thread the tape's central hole through the upright marker.\nObservation: The right gripper failed to open after positioning the tape over the marker.\nResult: The right gripper prevented the tape from being released.", |
| "avoidance": "Release the right gripper after aligning the tape with the marker." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_5", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 4.245107, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The right gripper approached the yellow block, offset slightly to the left, misaligning its grasp axis.\nResult: The gripper failed to securely grasp the block.", |
| "avoidance": "Move the right gripper slightly to the right." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_13", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 3.075539, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The right gripper approached the yellow block, offset slightly upward, misaligning its grasp axis.\nResult: The gripper failed to securely grasp the block.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_14", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 2.922813, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: the right gripper approached the yellow block offset slightly to the right, slightly forward, and significantly upward, misaligning its grasp axis.\nResult: the gripper failed to securely grasp the block", |
| "avoidance": "Move the right gripper to the left slightly, backward slightly, and downward significantly." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_16", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_16.hdf5", |
| "verdict": "fail", |
| "onset": 3.921684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The right gripper approached the yellow block, offset slightly to the right, slightly forward, and significantly upward, misaligning its grasp axis.\nResult: The gripper failed to securely grasp the block.", |
| "avoidance": "Move the right gripper slightly to the left, slightly backward, and significantly downward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_17", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_17", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_17.hdf5", |
| "verdict": "fail", |
| "onset": 3.884105, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The right gripper approached the yellow block, offset significantly to the left and forward.\nResult: The gripper failed to securely grasp the block, preventing placement in the drawer.", |
| "avoidance": "Move the right gripper significantly to the right and backward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_18", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_18", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_18.hdf5", |
| "verdict": "fail", |
| "onset": 3.6900000000000004, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: the right gripper approached the yellow block offset slightly backward, misaligning its grasp axis.\nResult: the right gripper failed to securely grasp the yellow block.", |
| "avoidance": "Move the right gripper slightly forward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_24", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_24", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_24.hdf5", |
| "verdict": "fail", |
| "onset": 6.005894, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the drawer.\nObservation: the right gripper was offset slightly downward while moving, causing a collision with and closing of the drawer, and the yellow block being dropped outside the drawer.\nResult: the right gripper failed to place the block inside the open drawer", |
| "avoidance": "Move the right gripper slightly upward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_28", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_28", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_28.hdf5", |
| "verdict": "fail", |
| "onset": 3.34187, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The task failed because the right gripper approached the yellow block slightly offset upward, misaligning its grasp axis.\nResult: The gripper failed to securely grasp the block, preventing placement in the drawer.", |
| "avoidance": "Move the right gripper slightly downward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_30", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_30", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_30.hdf5", |
| "verdict": "fail", |
| "onset": 3.404026, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the yellow block.\nObservation: The right gripper approached the yellow block, offset slightly forward.\nResult: The right gripper failed to grasp the yellow block.", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "place_block_into_drawer_episode_31", |
| "task_id": "place_block_into_drawer", |
| "episode": "episode_31", |
| "robot": "agilex", |
| "hdf5": "episodes/place_block_into_drawer/episode_31.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_0", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_0.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_1", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_2", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_3", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 2.360526, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: The right gripper incorrectly selected and picked up the pen instead of the spoon.\nResult: The right gripper failed to grasp the spoon.", |
| "avoidance": "Move the right arm to approach and align with the spoon instead of the pen." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_4", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 10.491574, |
| "type": [ |
| "wrong_sequence", |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the drawer.\nObservation: The left gripper was not positioned to push the drawer closed after the right arm placed the spoon; instead, the right gripper pushed the drawer.\nResult: The left gripper failed to approach and push the drawer.", |
| "avoidance": "Move the left arm instead of the right to align with the drawer." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_5", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 1.845573, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: the left gripper attempted to grasp the spoon instead of the right gripper. \nResult: failed to grasp the spoon by right gripper", |
| "avoidance": "Use the right gripper instead of the left to approach and align with the spoon." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_6", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 3.9723455000000003, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: The left gripper attempted to grasp the spoon instead of the right gripper.\nResult: The left gripper grasped the spoon.", |
| "avoidance": "Use the right gripper to grasp the spoon." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_7", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 2.477351, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: the right gripper approached the spoon offset slightly to the right, misaligning its grasp trajectory.\nResult: the gripper failed to grasp the spoon, preventing placement in the drawer", |
| "avoidance": "Move the right gripper to the left slightly to grasp the spoon." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_8", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 3.482068, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: the right gripper approached the spoon handle offset slightly forward.\nResult: gripper failed to grasp the spoon and instead collided with the drawer", |
| "avoidance": "Move the right gripper slightly backward during alignment" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_9", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 2.893991, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: The right gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: The right gripper missed the spoon entirely.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_10", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 3.685788, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: The right gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: The right arm failed to grasp the spoon.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_11", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 2.735894, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the spoon.\nObservation: The right gripper approached the spoon with its orientation misaligned to the spoon axis.\nResult: The right gripper failed to grasp the spoon.", |
| "avoidance": "Rotate the right gripper to be clockwise to the spoon." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_12", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 11.347866, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the drawer.\nObservation: The left gripper was offset slightly upward during approach toward the drawer handle, causing it to miss the handle.\nResult: The drawer could not be pushed closed.", |
| "avoidance": "Offset the left gripper slightly downward during approach towards the drawer handle." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_13", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 3.247101, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the spoon with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the spoon.\nResult: The right gripper failed to grasp the spoon.", |
| "avoidance": "Close the right gripper during grasping." |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_14", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 2.835578, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the spoon with the right arm.\nObservation: the right gripper released and slipped the spoon to the table while moving to align with the open drawer.\nResult: the right gripper failed to move and place the spoon inside the open drawer", |
| "avoidance": "Close the right gripper tightly while moving the spoon" |
| }, |
| { |
| "sample": "place_spoon_drawer_push_episode_15", |
| "task_id": "place_spoon_drawer_push", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/place_spoon_drawer_push/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 8.073808, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the spoon inside the drawer.\nObservation: the right gripper failed to open fully to release the spoon inside the drawer.\nResult: the right gripper failed to release the spoon.", |
| "avoidance": "Open the right gripper to release." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_4", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 5.1913405, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the plate holding the sausages.\nObservation: the left gripper approached the plate offset significantly to the right. Result: the left gripper failed to grasp the plate.", |
| "avoidance": "Move the left gripper to the left significantly." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_5", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 6.409999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the plate holding the sausages.\nObservation: The left arm approached the plate offset significantly to the left and significantly backward.\nResult: The left gripper failed to align with the plate.", |
| "avoidance": "Move the left gripper to the right and forward." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_8", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 5.1898935, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the plate holding the sausages.\nObservation: the left gripper was positioned offset slightly upward.\nResult: the left gripper failed to grasp the plate.", |
| "avoidance": "Move the left gripper slightly downward before grasping." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_9", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 7.111099, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the plate with the left arm.\nObservation: the left gripper failed to close with sufficient force to grasp the plate\nResult: the left gripper failed to pick up the plate", |
| "avoidance": "Close the left gripper before lifting the plate" |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_10", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 17.327130500000003, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the lid.\nObservation: The right gripper is slightly offset to the left of the pot lid handle.\nResult: Failed to grasp the pot lid.", |
| "avoidance": "Move the right gripper to the right slightly." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_12", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 18.689489, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the lid.\nObservation: the right gripper was positioned offset slightly upward\nResult: the right gripper failed to grasp the plate holding", |
| "avoidance": "Move the right gripper to the downward slightly." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_14", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 5.314262, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the pot.\nObservation: The left gripper was positioned offset slightly to the left and significantly backward during the pour\nResult: The sausages were poured outside of the pot", |
| "avoidance": "Move the left gripper to the right slightly, and forward significantly." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_16", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_16.hdf5", |
| "verdict": "fail", |
| "onset": 19.3305345, |
| "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 during the approach to the lid.\nResult: The lid could not be grasped", |
| "avoidance": "Rotate the gripper 90 degrees around its grasp axis" |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_22", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_22", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_22.hdf5", |
| "verdict": "fail", |
| "onset": 15.0333675, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the lid.\nObservation: The right gripper approached the lid offset slightly to the left during the approach, causing the lid to remain on the table.\nResult: The right gripper failed to grasp the lid.", |
| "avoidance": "Move the right gripper slightly to the right." |
| }, |
| { |
| "sample": "pour_sausage_into_pot_episode_24", |
| "task_id": "pour_sausage_into_pot", |
| "episode": "episode_24", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_sausage_into_pot/episode_24.hdf5", |
| "verdict": "fail", |
| "onset": 14.829736, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the lid.\nObservation: The right gripper approached the lid, offset significantly to the right, forward, and upward.\nResult: The right gripper failed to grasp and move the lid.", |
| "avoidance": "Move the right gripper significantly to the left, downward, and backward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_1", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_2", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_2.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_5", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_5.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_10", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_10.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_32", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_32", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_32.hdf5", |
| "verdict": "fail", |
| "onset": 1.9584, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup offset significantly backward, misaligning its grasp axis relative to the cup’s handle.\nResult: The gripper could not grasp the handle, preventing the pour.", |
| "avoidance": "Move the right gripper forward significantly." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_64", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 3.255368, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup’s handle, offset slightly to the right and backward.\nResult: The right gripper failed to grasp the pink cup.", |
| "avoidance": "Move the right gripper slightly to the left and forward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_71", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_71", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_71.hdf5", |
| "verdict": "fail", |
| "onset": 4.8530525, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup, offset slightly to the right and slightly upward, misaligning its grasp axis relative to the cup’s handle.\nResult: The right gripper failed to pick up the pink cup.", |
| "avoidance": "Move the right gripper slightly to the left and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_72", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_72", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_72.hdf5", |
| "verdict": "fail", |
| "onset": 4.755739999999999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup, offset slightly to the right, backward, and upward, misaligning its grasp axis relative to the cup handle.\nResult: The right gripper failed to grasp the pink cup handle.", |
| "avoidance": "Move the right gripper slightly to the left, forward, and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_73", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_73", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_73.hdf5", |
| "verdict": "fail", |
| "onset": 3.4177865, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the right gripper approached the pink cup offset slightly backward and upward, misaligning its grasp on the handle.\nResult: the gripper failed to secure the cup, preventing the pour.", |
| "avoidance": "Move the right gripper slightly forward and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_80", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_80", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_80.hdf5", |
| "verdict": "fail", |
| "onset": 6.284209, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Tilt the pink cup to pour the colored water into the transparent cup.\nObservation: the right arm tilted the cup and spilled the colored water onto the table\nResult: the right gripper failed to pour the colored water into the transparent cup", |
| "avoidance": "Maintain a stable grasp without rotation before alignment with the transparent cup is finished." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_84", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_84", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_84.hdf5", |
| "verdict": "fail", |
| "onset": 5.665611, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the right gripper approached the pink cup with its orientation misaligned relative to the pink cup.\nResult: the right gripper failed to grasp the pink cup.", |
| "avoidance": "Rotate the right gripper counterclockwise before grasping." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_96", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_96", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_96.hdf5", |
| "verdict": "fail", |
| "onset": 6.178684, |
| "type": [ |
| "orientation_error", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup, offset significantly to the left, with its orientation misaligned relative to the pink cup.\nResult: The right gripper failed to grasp the pink cup.", |
| "avoidance": "Move the right gripper slightly to the right and rotate it counterclockwise." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_119", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_119", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_119.hdf5", |
| "verdict": "fail", |
| "onset": 4.454366, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the handle of the pink cup.\nObservation: The right gripper failed to close sufficiently to grasp the pink cup's handle.\nResult: The right gripper failed to grasp and move the pink cup.", |
| "avoidance": "Close the right gripper sufficiently when grasping." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_128", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_128", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_128.hdf5", |
| "verdict": "fail", |
| "onset": 3.235157, |
| "type": [ |
| "closing_error", |
| "wrong_placement", |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to align with the transparent cup.\nObservation: The right gripper lifted the cup upward, then immediately dropped it back onto the table, failing to move to the transparent cup.\nResult: The right gripper failed to move the pink cup and pour water.", |
| "avoidance": "Pick up the pink cup and keep the gripper closed while moving towards the transparent cup." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_133", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_133", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_133.hdf5", |
| "verdict": "fail", |
| "onset": 3.386784, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the right arm to align with the transparent cup.\nObservation: right gripper lifts the cup then places the cup immediately in its original spot\nResult: right gripper failed to move the red cup to the transparent cup region to execute the pour action", |
| "avoidance": "Move the right arm to align with the transparent cup." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_134", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_134", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_134.hdf5", |
| "verdict": "fail", |
| "onset": 3.029471, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the handle of the pink cup.\nObservation: the right gripper failed to close sufficiently to grasp the pink cup's handle.\nResult: the right gripper failed to grasp and move the pink cup.", |
| "avoidance": "Close the right gripper sufficiently while grasping." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_146", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_146", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_146.hdf5", |
| "verdict": "fail", |
| "onset": 10.843578, |
| "type": [ |
| "translation_error", |
| "wrong_placement", |
| "avoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the transparent cup.\nObservation: A human hand appeared and moved the transparent cup forward, interfering with the right gripper's realignment with it, causing it to deviate significantly backward, and the colored water was poured directly onto the table.\nResult: The right arm failed to pour the colored water into the transparent cup.", |
| "avoidance": "Move the right gripper forward significantly to realign with the transparent cup." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_147", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_147", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_147.hdf5", |
| "verdict": "fail", |
| "onset": 8.05799, |
| "type": [ |
| "translation_error", |
| "avoidable_intervention", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the transparent cup.\nObservation: The human hand moved the transparent cup backward, interfering with the right gripper and causing it to fail to realign with the cup. The pouring target was significantly too high, and the water spilled onto the table when pouring.\nResult: The right gripper failed to pour the water into the transparent cup.", |
| "avoidance": "Move the right gripper backward significantly to realign with the transparent cup." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_149", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_149", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_149.hdf5", |
| "verdict": "fail", |
| "onset": 5.56, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the target object has been taken away by a human, which prevents the right gripper from aligning with it.\nResult: the right arm failed to grasp the handle of the pink cup.", |
| "avoidance": "This is unavoidable; the target object has been taken away by a human." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep1_episode_151", |
| "task_id": "pour_water_transparent_cup_ep1", |
| "episode": "episode_151", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_151.hdf5", |
| "verdict": "fail", |
| "onset": 5, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the target object has been occluded, which prevents the right gripper from grasping it\nResult: the right gripper failed to grasp the pink cup handle", |
| "avoidance": "This is unavoidable; the pink cup is occluded." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_0", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_0.hdf5", |
| "verdict": "fail", |
| "onset": 0.71243, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the right gripper approached the pink cup offset significantly to the left and slightly upward.\nResult: the gripper failed to grasp the pink cup for pouring.", |
| "avoidance": "Move the right gripper significantly to the right and slightly downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_2", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_2.hdf5", |
| "verdict": "fail", |
| "onset": 0.6477795, |
| "type": [ |
| "translation_error", |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup, offset slightly to the right, backward, and upward, failing to center on the handle.\nResult: The right gripper failed to pick up the cup.", |
| "avoidance": "Move the right gripper slightly to the left, forward, and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_4", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 1.539677, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the right gripper approached the pink cup, offset slightly backward.\nResult: the right gripper failed to grasp the pink cup.", |
| "avoidance": "Move the right gripper slightly forward before grasping." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_6", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 0.6882555, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup offset slightly to the right, backward, and upward, failing to center on the handle.\nResult: The right gripper failed to grasp the pink cup.", |
| "avoidance": "Move the right gripper to the left, forward, and slightly downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_9", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 1.391155, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup offset slightly to the right and upward, causing it to collide with the cup’s rim instead of grasping the handle.\nResult: The right gripper failed to grasp the cup.", |
| "avoidance": "Move the right gripper slightly to the left and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_17", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_17", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_17.hdf5", |
| "verdict": "fail", |
| "onset": 0.851981, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper approached the pink cup, offset slightly to the right and upward.\nResult: The right gripper failed to grasp the pink cup handle.", |
| "avoidance": "Move the right gripper slightly to the left and downward." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_22", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_22", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_22.hdf5", |
| "verdict": "fail", |
| "onset": 0.6336109999999999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: the right gripper approached the pink cup offset slightly backward and slightly upward, preventing proper handle engagement during the alignment subtas\nResult: the grasp attempt failed, aborting the pour sequence", |
| "avoidance": "Move the right gripper to the forward slightly and downward slightly." |
| }, |
| { |
| "sample": "pour_water_transparent_cup_ep2_episode_25", |
| "task_id": "pour_water_transparent_cup_ep2", |
| "episode": "episode_25", |
| "robot": "agilex", |
| "hdf5": "episodes/pour_water_transparent_cup_ep2/episode_25.hdf5", |
| "verdict": "fail", |
| "onset": 0.36389150000000003, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align with the pink cup.\nObservation: The right gripper is offset slightly to the right, forward, and upward relative to the pink cup, causing a collision with the cup rim.\nResult: The right arm failed to grasp the pink cup.", |
| "avoidance": "Move the right gripper slightly to the left, backward, and downward." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_1", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_12", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 16.559999, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to close the drawer.\nObservation: The left gripper did not execute the closing motion after the can was placed, violating the planned sequence.\nResult: The drawer remained open and the task was incomplete.", |
| "avoidance": "The left gripper should move to close the drawer" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_16", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_16.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_29", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_29", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_29.hdf5", |
| "verdict": "fail", |
| "onset": 2.904, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The right gripper grasped the can before the left gripper opened the drawer.\nResult: The left arm failed to approach and open the bottom drawer.", |
| "avoidance": "Move the left arm to approach the bottom drawer handle first." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_30", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_30", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_30.hdf5", |
| "verdict": "fail", |
| "onset": 3.054236, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the right gripper attempted to manipulate the can before the left gripper opened the drawer.\nResult: the drawer was not opened and the can was not placed in it.", |
| "avoidance": "The left arm should move first to open the drawer, and then the right arm takes action." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_46", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_46", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_46.hdf5", |
| "verdict": "fail", |
| "onset": 4.652842, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The left gripper approached the bottom drawer handle, offset slightly forward and slightly upward.\nResult: The left gripper failed to grasp and pull open the bottom drawer.", |
| "avoidance": "Move the left gripper to the backward slightly and downward slightly" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_49", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_49", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_49.hdf5", |
| "verdict": "fail", |
| "onset": 3.502521, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The left gripper approached the bottom drawer handle, offset slightly to the right.\nResult: The left gripper failed to grasp the bottom drawer handle.", |
| "avoidance": "Move the left gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_52", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_52", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_52.hdf5", |
| "verdict": "fail", |
| "onset": 3.6465305, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the left gripper approached the bottom drawer handle offset slightly to the left, slightly backward, and slightly downward\nResult: The robot could not grasp the drawer handle", |
| "avoidance": "Move the left gripper to the right slightly, forward slightly and upward slightly." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_55", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_55", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_55.hdf5", |
| "verdict": "fail", |
| "onset": 5.371808, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: the right gripper approached the can offset slightly to the right.\nResult: the right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper to the left slightly." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_56", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_56", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_56.hdf5", |
| "verdict": "fail", |
| "onset": 11.02, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right gripper approached the can, offset slightly to the left and upward.\nResult: The left gripper failed to grasp the can on the table.", |
| "avoidance": "Move the right gripper slightly to the right and downward." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_57", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_57", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_57.hdf5", |
| "verdict": "fail", |
| "onset": 4.967045, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right gripper approached the can, offset slightly to the right and slightly forward.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper slightly to the left and slightly backward." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_64", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 13.837877, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to close the drawer.\nObservation: The left gripper was not aligned with the open drawer, which was located to its lower right, so it did not push anything when it moved forward.\nResult: The left arm failed to close the drawer.", |
| "avoidance": "Move the left gripper to the right and downward significantly to align with and push the drawer." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_69", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_69", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_69.hdf5", |
| "verdict": "fail", |
| "onset": 4.9138155, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The right gripper pulled the bottom drawer open instead of the left arm.\nResult: The left gripper failed to pull the bottom drawer open.", |
| "avoidance": "Move the left arm instead of the right arm to align with the bottom drawer handle." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_70", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_70", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_70.hdf5", |
| "verdict": "fail", |
| "onset": 4.037631, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the right gripper incorrectly targeted the can instead of the left gripper moving to the drawer handle.\nResult: the left gripper failed to grasp the bottom drawer handle.", |
| "avoidance": "Move the left arm instead of the right to align with the bottom drawer handle." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_92", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_92", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_92.hdf5", |
| "verdict": "fail", |
| "onset": 5.251798, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The left gripper approached the bottom drawer handle, offset slightly to the left, slightly backward, and slightly downward.\nResult: The robot could not grasp the drawer handle.", |
| "avoidance": "Move the left gripper slightly to the right, slightly forward, and slightly upward, and rotate the left gripper counterclockwise." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_107", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_107", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_107.hdf5", |
| "verdict": "fail", |
| "onset": 4.296355500000001, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right gripper failed to open sufficiently to grasp the can.\nResult: The can could not be grasped and lifted towards the drawer.", |
| "avoidance": "Open the right gripper sufficiently." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_126", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_126", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_126.hdf5", |
| "verdict": "fail", |
| "onset": 4.407155, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the can with the right arm.\nObservation: the right gripper did not close tightly enough to grasp the can.\nResult: the right gripper failed to grasp and move the can to the open drawer.", |
| "avoidance": "Close the right gripper sufficiently while grasping" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_131", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_131", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_131.hdf5", |
| "verdict": "fail", |
| "onset": 3.88, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the can with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the can\nResult: the right gripper failed to pick up the can", |
| "avoidance": "Close the right gripper sufficiently while grasping" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_138", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_138", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_138.hdf5", |
| "verdict": "fail", |
| "onset": 4.447631, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the can with the right arm.\nObservation: the right gripper failed to close with sufficient force to grasp the can\nResult: the right gripper failed to lift the can", |
| "avoidance": "Close the right gripper during lifting" |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_140", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_140", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_140.hdf5", |
| "verdict": "fail", |
| "onset": 7.69621, |
| "type": [ |
| "translation_error", |
| "avoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The human hand pushed the drawer to the right, interfering with the right gripper's realignment with the bottom drawer handle, with a slight offset to the left.\nResult: The left gripper failed to grasp the bottom drawer handle.", |
| "avoidance": "Move the left gripper slightly to the right to realign with the drawer." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_144", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_144", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_144.hdf5", |
| "verdict": "fail", |
| "onset": 4.924485, |
| "type": [ |
| "avoidable_intervention", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The human hand moved the can to the left and backward, interfering with the right gripper and causing it to fail to realign with the can, offset significantly to the right and forward.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper to the left and backward significantly." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_145", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_145", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_145.hdf5", |
| "verdict": "fail", |
| "onset": 6.445894, |
| "type": [ |
| "avoidable_intervention", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The human hand moved the can to the upper right, interfering with the right gripper's realignment with it, causing a slight offset to the left and forward.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper to the right and backward slightly to realign with the can." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_150", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_150", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_150.hdf5", |
| "verdict": "fail", |
| "onset": 3.501721, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The left gripper approached the bottom drawer handle with offset and misalignment.\nResult: The left gripper failed to grasp the drawer handle.", |
| "avoidance": "Move the left gripper slightly forward." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_155", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_155", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_155.hdf5", |
| "verdict": "fail", |
| "onset": 8.2, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the open drawer has been occluded by human hands, which prevents the right gripper from placing the can on the table into the drawer\nResult: the right gripper failed to place the can on the table into the drawer", |
| "avoidance": "This is unavoidable; the open drawer has been occluded by human hands." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_156", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_156", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_156.hdf5", |
| "verdict": "fail", |
| "onset": 15.56, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: The open drawer has been occluded by human hands, which prevents the left gripper from placing the can on the table into the drawer.\nResult: The left gripper failed to place the can on the table into the drawer.", |
| "avoidance": "This is unavoidable; the open drawer has been occluded by human hands." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep1_episode_161", |
| "task_id": "pull_bottom_drawer_put_can_ep1", |
| "episode": "episode_161", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_161.hdf5", |
| "verdict": "fail", |
| "onset": 6.4, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The bottom drawer handle is occluded by a human hand, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the bottom drawer handle.", |
| "avoidance": "This is unavoidable; the bottom drawer handle has been occluded." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_0", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_0", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_0.hdf5", |
| "verdict": "fail", |
| "onset": 3.113368, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the left gripper approached the bottom drawer handle offset significantly to the left.\nResult: The left gripper failed to grasp the drawer handle", |
| "avoidance": "Move the left gripper to the right significantly to align with the drawer handle." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_4", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 2.4469455, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: the right gripper approached the can offset slightly backward, causing it to push the can sideways instead of grasping it.\nResult: the right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper slightly forward and rotate it clockwise." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_6", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 3.746736, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The left gripper, instead of the planned right gripper, approached the target area.\nResult: The right gripper failed to approach and grasp the can on the table.", |
| "avoidance": "Move the right arm instead of the left arm to align with the can on the table." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_11", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 2.773157, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the left gripper was positioned offset slightly downward relative to the drawer handle.\nResult: the left gripper failed to grasp the drawer handle.", |
| "avoidance": "Move the left gripper upward slightly before grasping." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_15", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 2.7586565, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right gripper is offset slightly to the left relative to the can.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper slightly to the right." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_17", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_17", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_17.hdf5", |
| "verdict": "fail", |
| "onset": 3.077157, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the can with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the can.\nResult: The right gripper failed to grasp and move the can to the open drawer.", |
| "avoidance": "Close the right gripper sufficiently when grasping." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_19", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_19", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_19.hdf5", |
| "verdict": "fail", |
| "onset": 3.24, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right arm is still, and the left arm is moving towards the can.\nResult: The right arm failed to grasp and move the can.", |
| "avoidance": "Move the right arm instead of the left arm to align with the can on the table." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_21", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_21", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_21.hdf5", |
| "verdict": "fail", |
| "onset": 2.021842, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: The left gripper is offset slightly upward relative to the bottom drawer handle.\nResult: The left gripper failed to grasp and pull open the bottom drawer handle.", |
| "avoidance": "Move the left gripper slightly downward." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_28", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_28", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_28.hdf5", |
| "verdict": "fail", |
| "onset": 2.3930565, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the bottom drawer handle.\nObservation: the left gripper approached the bottom drawer handle, offset significantly to the right\nResult: the left gripper failed to grasp the bottom drawer handle", |
| "avoidance": "Move the left gripper significantly to the left before grasping." |
| }, |
| { |
| "sample": "pull_bottom_drawer_put_can_ep2_episode_34", |
| "task_id": "pull_bottom_drawer_put_can_ep2", |
| "episode": "episode_34", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_bottom_drawer_put_can_ep2/episode_34.hdf5", |
| "verdict": "fail", |
| "onset": 2.8979204999999997, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the can on the table.\nObservation: The right gripper approached the can, offset slightly to the left during approach.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper slightly to the right before grasping." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_2", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_2.hdf5", |
| "verdict": "fail", |
| "onset": 5.530631, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: The left gripper is offset slightly backward relative to the top drawer handle.\nResult: The left gripper failed to grasp and pull the top drawer handle.", |
| "avoidance": "Move the left gripper significantly forward." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_3", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 4.9575344999999995, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: The left gripper was positioned slightly downward during approach to the top drawer handle.\nResult: The gripper could not grasp the top drawer handle.", |
| "avoidance": "Move the left gripper slightly upward." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_7", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 4.078431500000001, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: The left gripper approached the top drawer handle slightly offset backward.\nResult: The left gripper failed to grasp the top drawer handle to pull it open.", |
| "avoidance": "Move the left gripper slightly forward." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_15", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 5.671294, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: The left gripper was positioned slightly downward.\nResult: The left gripper failed to grasp the top drawer handle.", |
| "avoidance": "Move the left gripper to the upward slightly." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_16", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_16", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_16.hdf5", |
| "verdict": "fail", |
| "onset": 4.843421, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: the left gripper approached the top drawer handle offset significantly to the left during approach.\nResult: the left gripper failed to grasp the top drawer handle.", |
| "avoidance": "Move the left gripper significantly to the right." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_21", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_21", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_21.hdf5", |
| "verdict": "fail", |
| "onset": 7.859994, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: left gripper was aligned with the bottom drawer handle, instead of the top drawer handle\nResult: left gripper grabbed the wrong drawer handle", |
| "avoidance": "Move the left gripper to the upward significantly." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_22", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_22", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_22.hdf5", |
| "verdict": "fail", |
| "onset": 5.948684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: The left gripper was positioned slightly downward during approach to the top drawer handle.\nResult: The left gripper failed to grasp and pull open the top drawer.", |
| "avoidance": "Move the left gripper to the upward slightly." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_24", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_24", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_24.hdf5", |
| "verdict": "fail", |
| "onset": 5.484028, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: the left gripper approached the top drawer handle, offset significantly to the left and downward.\nResult: the left gripper failed to grasp the top drawer handle.", |
| "avoidance": "Move the left gripper significantly to the right and upward." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_29", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_29", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_29.hdf5", |
| "verdict": "fail", |
| "onset": 5.691792, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align with the top drawer handle.\nObservation: the left gripper approached the top drawer handle, offset slightly to the right and significantly downward.\nResult: the left gripper failed to grasp the top drawer handle.", |
| "avoidance": "Move the left gripper slightly to the left and significantly upward before grasping." |
| }, |
| { |
| "sample": "pull_open_drawer_episode_31", |
| "task_id": "pull_open_drawer", |
| "episode": "episode_31", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_open_drawer/episode_31.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_3", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_3", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_3.hdf5", |
| "verdict": "fail", |
| "onset": 7.986208, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to align with the top drawer handle.\nObservation: the right arm incorrectly targeted the bottom drawer instead of the planned top drawer.\nResult: the right gripper pulled the bottom drawer open, violating the execution order.", |
| "avoidance": "Move the right gripper to align with the top drawer handle to pull it open." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_4", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 8.0409775, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the remote controller.\nObservation: the right gripper, not the left, grasped the remote controller.\nResult: used the wrong gripper to grasp the remote controller.", |
| "avoidance": "Use the left gripper to grasp the remote controller." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_5", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_5.hdf5", |
| "verdict": "fail", |
| "onset": 3.111268, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to align with the top drawer handle.\nObservation: the left gripper aligned with the top drawer handle instead of the planed right\nResult: the left gripper open the top drawer", |
| "avoidance": "Use the right gripper to align with the top drawer." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_6", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_6", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_6.hdf5", |
| "verdict": "fail", |
| "onset": 13.504263, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the right arm to close the drawer.\nObservation: the left gripper pushed and closed the drawer after dropping the controller into the drawer while the planned right arm kept still.\nResult: the right gripper failed to close the drawer.", |
| "avoidance": "Move the right arm instead of the left arm to close the drawer." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_7", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_7.hdf5", |
| "verdict": "fail", |
| "onset": 4.552132, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the top drawer handle.\nObservation: The right gripper approached the top drawer handle, offset slightly to the right.\nResult: The right gripper failed to grasp the top drawer handle.", |
| "avoidance": "Move the right gripper slightly to the left before grasping." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_8", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_8.hdf5", |
| "verdict": "fail", |
| "onset": 3.650526, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the top drawer handle.\nObservation: The right gripper approached the top drawer handle with its orientation misaligned relative to the handle.\nResult: The right gripper failed to open the top drawer.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_9", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 8.1130705, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the remote controller.\nObservation: the left gripper approached the remote controller, offset slightly to the left.\nResult: the gripper could not securely grasp the remote controller.", |
| "avoidance": "Move the left gripper slightly to the right." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_10", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 8.9641315, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the remote controller.\nObservation: The left gripper approached the remote, offset significantly upward above the controller.\nResult: The left gripper failed to grasp the remote controller.", |
| "avoidance": "Move the left gripper significantly downward." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_11", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 17.943093, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to close the drawer.\nObservation: The right gripper was positioned slightly upward during the closing motion, causing it to miss the drawer handle.\nResult: The gripper did not close the drawer.", |
| "avoidance": "Move the right gripper slightly downward to close the drawer." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_12", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_12", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_12.hdf5", |
| "verdict": "fail", |
| "onset": 10.413907, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the remote controller.\nObservation: The left gripper approached the remote controller, offset slightly to the left, with its orientation misaligned relative to the remote controller.\nResult: The left gripper failed to grasp the remote controller.", |
| "avoidance": "Move the left gripper to the right slightly, and rotate the left gripper clockwise." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_13", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_13.hdf5", |
| "verdict": "fail", |
| "onset": 4.505184, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the drawer handle with the right arm.\nObservation: The right gripper failed to close sufficiently to secure the top drawer handle.\nResult: The right gripper failed to grasp and pull the top drawer open.", |
| "avoidance": "Close the right gripper tightly when grasping." |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_14", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 9.57382, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the remote controller with the left arm.\nObservation: The left gripper did not close enough to grasp the remote controller.\nResult: The left gripper failed to grasp the remote controller.", |
| "avoidance": "Close the left gripper" |
| }, |
| { |
| "sample": "pull_top_drawer_put_controller_episode_15", |
| "task_id": "pull_top_drawer_put_controller", |
| "episode": "episode_15", |
| "robot": "agilex", |
| "hdf5": "episodes/pull_top_drawer_put_controller/episode_15.hdf5", |
| "verdict": "fail", |
| "onset": 9.014727, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the remote controller.\nObservation: he left gripper did not open during the approach to the remote controller\nResult: the gripper could not enclose and pick up the remote", |
| "avoidance": "Open the left gripper during the subtask to align with the remote" |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_7", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_7", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_7.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_17", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_17", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_17.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_35", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_35", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_35.hdf5", |
| "verdict": "fail", |
| "onset": 3.553103, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the left arm to align with the pink plate.\nObservation: the left arm incorrectly placed the yellow doll into the purple plate instead of the pink plate, violating the task’s object-to-container assignment.\nResult: the doll is not correctly placed on the pink plate.", |
| "avoidance": "Move the left arm to align with the pink plate instead of the purple one." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_51", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_51", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_51.hdf5", |
| "verdict": "fail", |
| "onset": 3.942695, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the yellow doll.\nObservation: The left gripper approached the yellow doll, offset significantly to the right and forward.\nResult: The left gripper failed to grasp the yellow doll.", |
| "avoidance": "Move the left gripper to the left and backward significantly." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_64", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_64", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_64.hdf5", |
| "verdict": "fail", |
| "onset": 5.376999, |
| "type": [ |
| "translation_error", |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the right arm to align with the purple plate.\nObservation: The task failed because the right gripper approached the purple plate offset slightly to the right.\nResult: causing the stapler to be dropped beside the purple plate instead of being placed inside.", |
| "avoidance": "Move the right arm left slightly before opening the gripper." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_80", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_80", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_80.hdf5", |
| "verdict": "fail", |
| "onset": 2.175105, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the blue stapler.\nObservation: the right gripper approached the stapler with its orientation misaligned with the stapler grasp axis, and offset slightly upward.\nResult: The right gripper failed to pick up the blue stapler.", |
| "avoidance": "Rotate the right gripper clockwise and move offset slightly downward." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_81", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_81", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_81.hdf5", |
| "verdict": "fail", |
| "onset": 2.482332, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the blue stapler.\nObservation: the right gripper approached the stapler with its orientation anticlockwise to the stapler\nResult: the blue stapler failed to be grasped by the right gripper.", |
| "avoidance": "Rotate the right gripper clockwise before grasping." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_83", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_83", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_83.hdf5", |
| "verdict": "fail", |
| "onset": 2.850311, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the yellow doll.\nObservation: the left gripper approached the yellow doll with its orientation misaligned relative to the doll's grasp axis and offset slightly upward\nResult: the doll was not grasped by the left gripper.", |
| "avoidance": "The left arm moves down slightly and rotates the gripper 90 degrees." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_93", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_93", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_93.hdf5", |
| "verdict": "fail", |
| "onset": 9.779153, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the blue stapler.\nObservation: The right gripper approached the blue stapler, offset significantly to the left and forward.\nResult: The right gripper failed to grasp the blue stapler.", |
| "avoidance": "Move the right gripper to the right and backward significantly." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_102", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_102", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_102.hdf5", |
| "verdict": "fail", |
| "onset": 10.6060105, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the blue stapler with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the blue stapler.\nResult: The right gripper failed to grasp and move the blue stapler.", |
| "avoidance": "Close the right gripper sufficiently when grasping." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_111", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_111", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_111.hdf5", |
| "verdict": "fail", |
| "onset": 1.427126, |
| "type": [ |
| "wrong_sequence" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the yellow doll.\nObservation: The right arm approached the blue stapler, and the left arm did not move first to approach the yellow doll.\nResult: The actions ran in the wrong sequence.", |
| "avoidance": "The left arm should approach the yellow doll first." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_113", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_113", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_113.hdf5", |
| "verdict": "fail", |
| "onset": 13.218418, |
| "type": [ |
| "translation_error", |
| "wrong_placement", |
| "avoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the purple plate.\nObservation: After the right gripper aligned with the plate, a human hand suddenly appeared and moved the plate backward. The right gripper moved again and placed the stapler in the wrong place, which is located to the upper right.\nResult: The right gripper failed to place the blue stapler into the purple plate.", |
| "avoidance": "Move the right gripper to the left and slightly backward to realign with the purple plate." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_118", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_118", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_118.hdf5", |
| "verdict": "fail", |
| "onset": 6.96, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the pink plate.\nObservation: A human hand took away the pink plate, which prevented the right gripper from placing the yellow doll into the pink plate.\nResult: The right gripper failed to put the yellow doll into the pink plate.", |
| "avoidance": "This is unavoidable; the target object, the pink plate, has been taken away by a human." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_119", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_119", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_119.hdf5", |
| "verdict": "fail", |
| "onset": 11, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the blue stapler.\nObservation: The human hand occluded the blue stapler, which prevented the right gripper from grasping it.\nResult: The right gripper failed to grasp the blue stapler.", |
| "avoidance": "This is unavoidable; the target object has been occluded." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_122", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_122", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_122.hdf5", |
| "verdict": "fail", |
| "onset": 5.68, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the right arm to align with the purple plate.\nObservation: A human hand took away the purple plate, which prevented the right gripper from placing the blue stapler into the purple plate.\nResult: The right gripper failed to put the blue stapler into the purple plate.", |
| "avoidance": "This is unavoidable; the target object, the purple plate, has been taken away by a human." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_128", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_128", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_128.hdf5", |
| "verdict": "fail", |
| "onset": 3.814892, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the blue stapler with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the blue stapler.\nResult: The right gripper failed to grasp and move the blue stapler.", |
| "avoidance": "Close the right gripper sufficiently to secure the blue stapler." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_134", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_134", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_134.hdf5", |
| "verdict": "fail", |
| "onset": 4.219822, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the purple plate.\nObservation: the right gripper did not maintain a secure grasp on the stapler, causing it to be dropped midway.\nResult: the gripper failed to move the stapler to the purple plate.", |
| "avoidance": "Close the right gripper tightly while moving the stapler." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_140", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_140", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_140.hdf5", |
| "verdict": "fail", |
| "onset": 12.7178665, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the blue stapler.\nObservation: The right gripper approached the stapler offset significantly to the right and backward, and its orientation was also misaligned with the object.\nResult: The right gripper failed to grasp the stapler.", |
| "avoidance": "Move the right gripper significantly to the left and forward, and rotate it clockwise." |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_147", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_147", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_147.hdf5", |
| "verdict": "fail", |
| "onset": 4.415558, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the yellow doll with the left arm.\nObservation: the left gripper failed to close sufficiently to secure the yellow doll during the grasping phase\nResult: the doll was not lifted and remained on the table,", |
| "avoidance": "Close the left gripper sufficiently" |
| }, |
| { |
| "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_149", |
| "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", |
| "episode": "episode_149", |
| "robot": "agilex", |
| "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_149.hdf5", |
| "verdict": "fail", |
| "onset": 8.693081, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the blue stapler with the right arm.\nObservation: the right gripper failed to close sufficiently and grasp the blue stapler.\nResult: the stapler remained on the table and was not placed in the purple plate.", |
| "avoidance": "Close the right gripper sufficiently to secure the stapler when grasping." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_1", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_1.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_5", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_5", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_5.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_9", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_9.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_14", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_14.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_21", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_21", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_21.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_22", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_22", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_22.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_29", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_29", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_29.hdf5", |
| "verdict": "fail", |
| "onset": 5.2214995, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: the left gripper placed the mouse into the bowl instead of the basket\nResult: the left gripper failed to place the mouse into the basket.", |
| "avoidance": "Move the left arm to align with the basket instead of the bowl." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_33", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_33", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_33.hdf5", |
| "verdict": "fail", |
| "onset": 2.1850015000000003, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: The left gripper incorrectly selected and moved the green cube instead of the mouse.\nResult: The left gripper failed to grasp the mouse from the green tray.", |
| "avoidance": "Move the left arm to select and grasp the mouse instead of the green cube from the green tray." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_72", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_72", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_72.hdf5", |
| "verdict": "fail", |
| "onset": 2.570578, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: the left gripper approached with its orientation misaligned relative to the mouse\nResult: the left gripper failed to grasp the mouse", |
| "avoidance": "Rotate the left gripper clockwise before grasping." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_83", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_83", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_83.hdf5", |
| "verdict": "fail", |
| "onset": 3.567254, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: the left gripper approached the mouse offset slightly to the left and slightly forward\nResult: the left gripper failed to pick up the mouse", |
| "avoidance": "Move the left gripper slightly to the right and slightly backward before grasping." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_87", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_87", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_87.hdf5", |
| "verdict": "fail", |
| "onset": 3.104928, |
| "type": [ |
| "translation_error", |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: the left gripper approached the mouse offset slightly to the left and slightly forward with its orientation misaligned relative to the mouse.\nResult: the left gripper failed to grasp the mouse from the green tray", |
| "avoidance": "Move the left gripper slightly to the right and backward, and rotate it clockwise." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_92", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_92", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_92.hdf5", |
| "verdict": "fail", |
| "onset": 5.3519, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: The left gripper approached the basket, offset slightly backward.\nResult: The mouse was dropped on the table instead of placed inside.", |
| "avoidance": "Move the left gripper slightly forward during basket alignment." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_100", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_100", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_100.hdf5", |
| "verdict": "fail", |
| "onset": 4.2323595, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the mouse from the green tray.\nObservation: The left gripper failed to close sufficiently to grasp the mouse.\nResult: The left gripper failed to grasp and move the mouse.", |
| "avoidance": "Close the left gripper sufficiently to grasp the mouse." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_104", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_104", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_104.hdf5", |
| "verdict": "fail", |
| "onset": 4.792631500000001, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: the left gripper did not maintain a secure grasp on the mouse and dropped it midway.\nResult: the left gripper failed to place the mouse into the white basket.", |
| "avoidance": "Close the left gripper while moving." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_107", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_107", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_107.hdf5", |
| "verdict": "fail", |
| "onset": 5.5352365, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: The left gripper released and dropped the mouse midway during the move toward the basket.\nResult: The left gripper failed to move the mouse into the basket.", |
| "avoidance": "Close the left gripper tightly while moving the mouse." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_113", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_113", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_113.hdf5", |
| "verdict": "fail", |
| "onset": 3.3194125000000003, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: The left gripper did not open widely enough before grasping the mouse.\nResult: the left gripper failed to grasp the mouse.", |
| "avoidance": "Open the left gripper wider." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_120", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_120", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_120.hdf5", |
| "verdict": "fail", |
| "onset": 4.526105, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: The left gripper did not maintain a secure grasp on the mouse and dropped it midway during the move toward the basket.\nResult: The left gripper failed to move and place the mouse into the basket.", |
| "avoidance": "Close the left gripper tightly while moving the mouse." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_121", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_121", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_121.hdf5", |
| "verdict": "fail", |
| "onset": 5.777684, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the basket.\nObservation: the left gripper was positioned slightly forward\nResult: the left gripper failed to align with the mouse in the basket", |
| "avoidance": "Move the left gripper slightly backward before releasing." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_132", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_132", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_132.hdf5", |
| "verdict": "fail", |
| "onset": 5.34521, |
| "type": [ |
| "avoidable_intervention", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: The hand moved the mouse to the left, interfering with the left gripper's realignment with it, which was offset significantly to the right and backward relative to the mouse.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper slightly to the left and backward to realign with the mouse." |
| }, |
| { |
| "sample": "put_mouse_basket_from_tray_ep1_episode_133", |
| "task_id": "put_mouse_basket_from_tray_ep1", |
| "episode": "episode_133", |
| "robot": "agilex", |
| "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_133.hdf5", |
| "verdict": "fail", |
| "onset": 4.599, |
| "type": [ |
| "avoidable_intervention", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the mouse in the green tray.\nObservation: The human hand moved the tray, causing the mouse to move as well, interfering with the left gripper's realignment of the mouse and resulting in a significant offset to the left, forward, and upward.\nResult: The left gripper failed to grasp the mouse.", |
| "avoidance": "Move the left gripper to the right, backward, and upward significantly." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_1", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_1", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_1.hdf5", |
| "verdict": "fail", |
| "onset": 1.520631, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper approached the purple cup offset significantly to the left\nResult: the gripper failed to secure the cup", |
| "avoidance": "Move the left gripper significantly to the right before grasping." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_9", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_9", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_9.hdf5", |
| "verdict": "fail", |
| "onset": 3.0964465, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the purple cup with the left arm.\nObservation: The left gripper failed to close sufficiently to secure the purple cup.\nResult: The left gripper failed to grasp the purple cup.", |
| "avoidance": "Close the left gripper sufficiently to grasp the purple cup." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_10", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_10", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_10.hdf5", |
| "verdict": "fail", |
| "onset": 3.208947, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue bowl.\nObservation: The left gripper released and slipped the purple cup while moving it to the blue bowl.\nResult: The left gripper failed to grasp the purple cup.", |
| "avoidance": "Close the left gripper with sufficient force to grasp the purple cup while moving." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_14", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 2.0885625, |
| "type": [ |
| "orientation_error", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup with its orientation misaligned relative to the purple cup edge, causing a misalignment during grasp initiation.\nResult: The gripper failed to secure the cup.", |
| "avoidance": "Rotate the left gripper clockwise during the cup alignment" |
| }, |
| { |
| "sample": "stack_cup_cola_episode_31", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_31", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_31.hdf5", |
| "verdict": "fail", |
| "onset": 1.118848, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper approached the purple cup offset slightly to the right, misaligning its grasp pose.\nResult: the gripper failed to secure the cup", |
| "avoidance": "Move the left gripper to the left slightly during alignment with the purple cup" |
| }, |
| { |
| "sample": "stack_cup_cola_episode_59", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_59", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_59.hdf5", |
| "verdict": "fail", |
| "onset": 9.644918, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper approached the coke can, offset slightly to the left and slightly backward.\nResult: The right gripper failed to grasp the can.", |
| "avoidance": "Move the right gripper slightly to the right and forward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_67", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_67", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_67.hdf5", |
| "verdict": "fail", |
| "onset": 3.9001845, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset significantly to the right and significantly forward, misaligning its grasp pose.\nResult: The gripper failed to secure the cup, aborting the pick-up.", |
| "avoidance": "Offset the left gripper significantly to the left and backward during the alignment stage." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_85", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_85", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_85.hdf5", |
| "verdict": "fail", |
| "onset": 5.705709, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the coke can offset significantly to the right and backward, misaligning its grasp axis\nResult: the right gripper failed to grasp the can", |
| "avoidance": "Move the right gripper significantly to the left and forward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_92", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_92", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_92.hdf5", |
| "verdict": "fail", |
| "onset": 2.114892, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset slightly to the left and slightly backward, misaligning its grasp pose.\nResult: The gripper failed to secure the cup.", |
| "avoidance": "Move the left gripper slightly to the right and slightly forward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_94", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_94", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_94.hdf5", |
| "verdict": "fail", |
| "onset": 2.9814735, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper approached the purple cup offset significantly backward.\nResult: the left gripper failed to grasp the purple cup.", |
| "avoidance": "Move the left gripper forward significantly before grasping." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_107", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_107", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_107.hdf5", |
| "verdict": "fail", |
| "onset": 7.616631, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper approached the Coke can, offset slightly to the left.\nResult: The right gripper failed to grasp the Coke can.", |
| "avoidance": "Move the right gripper to the right slightly." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_110", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_110", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_110.hdf5", |
| "verdict": "fail", |
| "onset": 6.021104, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the Coke can offset significantly to the right and significantly backward.\nResult: the right gripper failed to grasp the Coke can.", |
| "avoidance": "Move the right gripper to the left slightly and forward significantly." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_116", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_116", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_116.hdf5", |
| "verdict": "fail", |
| "onset": 2.26921, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset significantly to the right.\nResult: The left gripper failed to grasp the cup rim.", |
| "avoidance": "Move the left gripper to the left significantly." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_123", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_123", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_123.hdf5", |
| "verdict": "fail", |
| "onset": 2.537894, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset slightly forward.\nResult: The left gripper failed to grasp the purple cup.", |
| "avoidance": "Move the left gripper slightly backward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_124", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_124", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_124.hdf5", |
| "verdict": "fail", |
| "onset": 2.1863155, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset slightly upward, misaligning its grasp pose.\nResult: The right gripper failed to grasp and move the purple cup.", |
| "avoidance": "Move the left gripper slightly downward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_127", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_127", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_127.hdf5", |
| "verdict": "fail", |
| "onset": 4.148621, |
| "type": [ |
| "open_error" |
| ], |
| "reason": "Expected: Release the gripper to place the purple cup into the blue bowl.\nObservation: The left gripper did not release the purple cup into the blue bowl.\nResult: The purple cup remained in the gripper and the release failed.", |
| "avoidance": "Open the left gripper." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_129", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_129", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_129.hdf5", |
| "verdict": "fail", |
| "onset": 2.829888, |
| "type": [ |
| "translation_error", |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup offset significantly to the right and forward.\nResult: The left gripper failed to grasp the purple cup.", |
| "avoidance": "Move the left gripper to the left and significantly backward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_149", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_149", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_149.hdf5", |
| "verdict": "fail", |
| "onset": 2.256947, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper approached the purple cup offset significantly to the right.\nResult: the left gripper failed to grasp the purple cup.", |
| "avoidance": "Move the left gripper significantly to the left before grasping." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_150", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_150", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_150.hdf5", |
| "verdict": "fail", |
| "onset": 3.188503, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper is offset significantly backward relative to the purple cup rim.\nResult: The left gripper failed to grasp the purple cup.", |
| "avoidance": "Move the left gripper forward significantly." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_163", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_163", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_163.hdf5", |
| "verdict": "fail", |
| "onset": 6.275368, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper approached the coke can offset slightly backward, misaligning its grasp axis.\nResult: The right gripper is misaligned with and misgrasps the coke can.", |
| "avoidance": "Move the right gripper forward to align with the coke can." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_164", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_164", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_164.hdf5", |
| "verdict": "fail", |
| "onset": 6.598489, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the coke can offset slightly forward\nResult: the right arm failed to grasp the coke.", |
| "avoidance": "Move the right gripper slightly backward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_187", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_187", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_187.hdf5", |
| "verdict": "fail", |
| "onset": 2.603908, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper approached the purple cup, offset slightly upward.\nResult: The left gripper failed to align with and grasp the purple cup.", |
| "avoidance": "Move the left gripper slightly downward before grasping." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_198", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_198", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_198.hdf5", |
| "verdict": "fail", |
| "onset": 8.369999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper is offset significantly backward relative to the coke.\nResult: The right gripper failed to grasp the coke.", |
| "avoidance": "Move the right gripper significantly forward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_201", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_201", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_201.hdf5", |
| "verdict": "fail", |
| "onset": 9.697323, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the coke can offset significantly to the right.\nResult: the right arm failed to grasp the red coke can.", |
| "avoidance": "Move the right gripper significantly to the left." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_203", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_203", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_203.hdf5", |
| "verdict": "fail", |
| "onset": 8.086655, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the coke can offset significantly to the left and significantly forward, misaligning its grasp axis.\nResult: the right gripper failed to grasp the coke can", |
| "avoidance": "Move the right gripper significantly backward and to the right." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_207", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_207", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_207.hdf5", |
| "verdict": "fail", |
| "onset": 8.1118415, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper approached the coke can offset significantly to the left and backward.\nResult: The right gripper failed to grasp the red coke can.", |
| "avoidance": "Move the right gripper significantly to the right and forward." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_236", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_236", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_236.hdf5", |
| "verdict": "fail", |
| "onset": 2.956471, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper approached the purple cup with its orientation misaligned relative to the purple cup.\nResult: the left gripper failed to grasp the purple cup.", |
| "avoidance": "Rotate the left gripper counterclockwise before grasping." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_237", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_237", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_237.hdf5", |
| "verdict": "fail", |
| "onset": 2.6520515, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the purple cup with the left arm.\nObservation: The left gripper failed to close sufficiently to secure the purple cup, leaving the cup still in place.\nResult: The left gripper failed to grasp and move the purple cup.", |
| "avoidance": "Close the left gripper sufficiently to grasp the purple cup." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_246", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_246", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_246.hdf5", |
| "verdict": "fail", |
| "onset": 8.996726500000001, |
| "type": [ |
| "orientation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: The right gripper approached the coke can with its orientation misaligned relative to the coke can's object axis.\nResult: The coke can cannot be grasped.", |
| "avoidance": "Rotate the right gripper clockwise." |
| }, |
| { |
| "sample": "stack_cup_cola_episode_249", |
| "task_id": "stack_cup_cola", |
| "episode": "episode_249", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_cup_cola/episode_249.hdf5", |
| "verdict": "fail", |
| "onset": 9.7912365, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to approach and align the red coke can.\nObservation: the right gripper approached the coke can offset slightly to the right and significantly forward.\nResult: the right gripper failed to grasp the red coke can.", |
| "avoidance": "Move the right gripper slightly to the left and significantly backward before grasping." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_8", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_8", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_8.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_11", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_11.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_13", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_13", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_13.hdf5", |
| "verdict": "success" |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_32", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_32", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_32.hdf5", |
| "verdict": "fail", |
| "onset": 2.910894, |
| "type": [ |
| "wrong_gripper" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The right gripper was incorrectly deployed to grasp the green cube instead of the left gripper.\nResult: The left arm remained idle while the right arm performed an out-of-sequence action.", |
| "avoidance": "The left arm should be used to align with the green cube." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_46", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_46", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_46.hdf5", |
| "verdict": "fail", |
| "onset": 12.049330000000001, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper approached the red cube, offset slightly to the right and slightly backward.\nResult: the right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper slightly to the left and slightly forward before grasping." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_53", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_53", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_53.hdf5", |
| "verdict": "fail", |
| "onset": 15.431284999999999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper approached the red cube, offset slightly to the right and slightly backward.\nResult: the right gripper failed to align with and grasp the red cube.", |
| "avoidance": "Move the right gripper slightly to the left and slightly forward before grasping." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_59", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_59", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_59.hdf5", |
| "verdict": "fail", |
| "onset": 12.666998, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper approached the red cube offset slightly to the right.\nResult: the right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper to the left slightly." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_77", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_77", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_77.hdf5", |
| "verdict": "fail", |
| "onset": 5.12, |
| "type": [ |
| "unavoidable_intervention" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The green cube has been occluded by a human hand, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the green cube.", |
| "avoidance": "This is unavoidable; the green cube has been occluded." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_85", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_85", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_85.hdf5", |
| "verdict": "fail", |
| "onset": 21.553513, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the red cube with the right arm.\nObservation: the right gripper failed to close with sufficient force to grasp the red cube\nResult: the right gripper failed to lift the red cube", |
| "avoidance": "Close the right gripper before lifting." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_100", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_100", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_100.hdf5", |
| "verdict": "fail", |
| "onset": 18.786842, |
| "type": [ |
| "wrong_placement", |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cube.\nObservation: The human hand moved the stacked cubes to the left and backward, interfering with the right gripper placing the red block slightly to the right and forward relative to the green block.\nResult: The right gripper failed to stack the red block on top of the green block.", |
| "avoidance": "Move the right gripper slightly to the left and backward to realign with the stacked cubes." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_103", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_103", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_103.hdf5", |
| "verdict": "fail", |
| "onset": 4.498311, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block with an offset to the left, forward, and upward.\nResult: The left arm could not grasp the green cube.", |
| "avoidance": "Move the left gripper to the right, backward, and downward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_105", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_105", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_105.hdf5", |
| "verdict": "fail", |
| "onset": 3.998218, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block offset slightly to the left, slightly backward, and slightly upward\nResult: The gripper failed to grasp the green cube securely", |
| "avoidance": "Move the left gripper to the right slightly, forward slightly and downward slightly." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_111", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_111", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_111.hdf5", |
| "verdict": "fail", |
| "onset": 12.303996, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: The right gripper approached the red cube, offset slightly to the left, backward, and upward.\nResult: The right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper slightly to the right, forward, and downward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_113", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_113", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_113.hdf5", |
| "verdict": "fail", |
| "onset": 12.802535500000001, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: The right gripper approached the red cube with misalignment, offset slightly to the left and slightly backward.\nResult: The right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper to the right and forward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_124", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_124", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_124.hdf5", |
| "verdict": "fail", |
| "onset": 16.948662, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cube.\nObservation: the right gripper approached the green block, offset slightly to the left.\nResult: the right gripper failed to place the green block on the green block.", |
| "avoidance": "Move the right gripper slightly to the right before releasing." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_126", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_126", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_126.hdf5", |
| "verdict": "fail", |
| "onset": 13.289022, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cube.\nObservation: the right gripper approached the green block offset significantly to the left and significantly forward\nResult: the right gripper did not align the red block with the green block", |
| "avoidance": "Move the right gripper to the right significantly and backward significantly." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_129", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_129", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_129.hdf5", |
| "verdict": "fail", |
| "onset": 7.9779775, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue cube.\nObservation: The left gripper approached the blue block, offset slightly to the right and slightly forward.\nResult: The left gripper failed to align with and place the green block on the blue block.", |
| "avoidance": "Move the left gripper slightly to the left and slightly backward before releasing." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_132", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_132", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_132.hdf5", |
| "verdict": "fail", |
| "onset": 4.013315, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Grasp the green cube with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the green cube.\nResult: The left gripper failed to grasp and move the blue cube.", |
| "avoidance": "Close the left gripper tightly to secure the green cube." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_134", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_134", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_134.hdf5", |
| "verdict": "fail", |
| "onset": 5.505, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue cube.\nObservation: the left gripper failed to maintain a secure grasp on the green cube\nResult: the left gripper failed to place the green cube on the blue cube", |
| "avoidance": "Close the left gripper while moving." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep1_episode_146", |
| "task_id": "stack_three_color_cubes_ep1", |
| "episode": "episode_146", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep1/episode_146.hdf5", |
| "verdict": "fail", |
| "onset": 12.005038, |
| "type": [ |
| "closing_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the green cube.\nObservation: The right gripper released and slipped the red block while moving.\nResult: The right gripper failed to move the red block to the top of the green block.", |
| "avoidance": "Keep holding the red block while the right gripper moves." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_2", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_2", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_2.hdf5", |
| "verdict": "fail", |
| "onset": 3.063789, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block, offset slightly forward and significantly upward.\nResult: The left gripper failed to align with and grasp the green block.", |
| "avoidance": "Move the left gripper slightly backward and significantly downward before grasping." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_4", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_4", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_4.hdf5", |
| "verdict": "fail", |
| "onset": 3.8103290000000003, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block with offset and misalignment.\nResult: The left gripper failed to grasp the green cube.", |
| "avoidance": "Move the left gripper slightly forward and slightly downward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_11", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_11", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_11.hdf5", |
| "verdict": "fail", |
| "onset": 2.533995, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block, offset backward and upward significantly.\nResult: The left gripper failed to grasp the green cube.", |
| "avoidance": "Move the left gripper significantly forward and downward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_14", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_14", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_14.hdf5", |
| "verdict": "fail", |
| "onset": 10.982589, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue cube.\nObservation: The left gripper approached the blue block, offset slightly to the left and slightly upward during the approach.\nResult: The gripper did not place the green block stably on top of the blue cube.", |
| "avoidance": "The gripper should move slightly to the right and slightly downward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_18", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_18", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_18.hdf5", |
| "verdict": "fail", |
| "onset": 1.448152, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: the right gripper approached the red cube, offset slightly to the left.\nResult: the right gripper failed to align with the red cube.", |
| "avoidance": "Move the right gripper slightly to the right before grasping." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_27", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_27", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_27.hdf5", |
| "verdict": "fail", |
| "onset": 2.726565, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the green cube.\nObservation: The left gripper approached the green block, offset slightly to the right and backward.\nResult: The left gripper failed to grasp the green cube.", |
| "avoidance": "Move the left gripper slightly to the left and forward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_32", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_32", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_32.hdf5", |
| "verdict": "fail", |
| "onset": 6.614999, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue cube.\nObservation: The left gripper placed the green block slightly forward relative to the top of the blue cube.\nResult: The left gripper failed to stack the green cube on top of the blue cube.", |
| "avoidance": "Move the left gripper slightly backward." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_33", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_33", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_33.hdf5", |
| "verdict": "fail", |
| "onset": 6.359235, |
| "type": [ |
| "wrong_placement" |
| ], |
| "reason": "Expected: Move the left arm to align with the blue cube.\nObservation: the left gripper incorrectly stacked the green cube on the red cube instead of the blue cube.\nResult: the left gripper failed to align the green cube with the blue cube.", |
| "avoidance": "Move the left arm to align with the blue cube instead of the red cube." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_36", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_36", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_36.hdf5", |
| "verdict": "fail", |
| "onset": 11.883025, |
| "type": [ |
| "wrong_object" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: The right gripper incorrectly targeted the green cube instead of the red cube.\nResult: The right gripper failed to grasp the red cube.", |
| "avoidance": "The right gripper needs to grasp the red cube." |
| }, |
| { |
| "sample": "stack_three_color_cubes_ep2_episode_39", |
| "task_id": "stack_three_color_cubes_ep2", |
| "episode": "episode_39", |
| "robot": "agilex", |
| "hdf5": "episodes/stack_three_color_cubes_ep2/episode_39.hdf5", |
| "verdict": "fail", |
| "onset": 2.44, |
| "type": [ |
| "translation_error" |
| ], |
| "reason": "Expected: Move the right arm to align with the red cube.\nObservation: The right gripper approached the red cube, offset significantly to the left and significantly backward.\nResult: The right gripper failed to grasp the red cube.", |
| "avoidance": "Move the right gripper to the right significantly and forward significantly before grasping" |
| } |
| ] |
|
|
