diff --git "a/failtime_short/train.json" "b/failtime_short/train.json" new file mode 100644--- /dev/null +++ "b/failtime_short/train.json" @@ -0,0 +1,12044 @@ +[ + { + "sample": "cut_sausage_episode_13", + "task_id": "cut_sausage", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_13.hdf5", + "verdict": "fail", + "onset": 8.023999, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to align with the sausage.\nObservation: The right gripper approached the sausage, offset slightly to the left during alignment.\nResult: The right gripper failed to cut a piece of sausage.", + "avoidance": "Move the right gripper slightly to the right." + }, + { + "sample": "cut_sausage_episode_18", + "task_id": "cut_sausage", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "cut_sausage_episode_19", + "task_id": "cut_sausage", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "cut_sausage_episode_20", + "task_id": "cut_sausage", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_20.hdf5", + "verdict": "fail", + "onset": 5.183108, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the knife holder.\nObservation: the right gripper approached the knife holder with its orientation misaligned relative to the knife holder during approach\nResult: the gripper failed to grasp the knife", + "avoidance": "Rotate the right gripper by 90 degrees clockwise" + }, + { + "sample": "cut_sausage_episode_21", + "task_id": "cut_sausage", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_21.hdf5", + "verdict": "fail", + "onset": 4.535834, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the knife holder.\nObservation: The right gripper approached the knife holder, offset slightly backward with its orientation misaligned relative to the knife holder.\nResult: The knife was not picked up.", + "avoidance": "Move the right gripper slightly forward and rotate the right gripper" + }, + { + "sample": "cut_sausage_episode_27", + "task_id": "cut_sausage", + "episode": "episode_27", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_27.hdf5", + "verdict": "fail", + "onset": 6.505105, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the sausage.\nObservation: The right gripper released and slipped the knife while moving to the cutting board.\nResult: The right gripper failed to move the knife and align it with the sausage.", + "avoidance": "Close the right gripper while moving the knife." + }, + { + "sample": "cut_sausage_episode_28", + "task_id": "cut_sausage", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_28.hdf5", + "verdict": "fail", + "onset": 5.416496, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the sausage.\nObservation: the right gripper failed to close sufficiently to secure the knife during alignment with the sausage\nResult: the knife slipped and could not be positioned for cutting.", + "avoidance": "Close the right gripper tightly" + }, + { + "sample": "cut_sausage_episode_30", + "task_id": "cut_sausage", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/cut_sausage/episode_30.hdf5", + "verdict": "fail", + "onset": 8.435089, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the sausage.\nObservation: the right gripper had its orientation misaligned relative to the sausage's cutting axis during the approach to the sausage\nResult: The knife could not cut the sausage, hitting the chopping board instead", + "avoidance": "rotate the right gripper during the approach phase" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_0", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_1", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_2", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_3", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_4", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_5", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_6", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_7", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_8", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_9", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_10", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_11", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_12", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_13", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_14", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_15", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_16", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_17", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_18", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_19", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_20", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_21", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_22", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_23", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_24", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_26", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_26", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_26.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_27", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_27", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_27.hdf5", + "verdict": "success" + }, + { + "sample": "drag_basket_place_cube_ep1_episode_28", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_28.hdf5", + "verdict": "fail", + "onset": 3.089486, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper approached the blue block while the basket was not in the center; the action order was wrong.\nResult: The right arm failed to approach and drag the basket.", + "avoidance": "Move the right arm to approach and drag the basket to the center first." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_29", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_29.hdf5", + "verdict": "fail", + "onset": 2.534842, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the left gripper incorrectly grasped the blue cube before the right gripper had dragged the basket to the center\nResult: the right gripper failed to approach and grasp the basket", + "avoidance": "Move the right arm to approach and align with the basket first." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_30", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_30.hdf5", + "verdict": "fail", + "onset": 4.521157, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper first grasps the blue cube before the right gripper moves the basket.\nResult: The right gripper did not move the basket first, and an incorrect task sequence is executed.", + "avoidance": "The right gripper should move the basket first before the left gripper picks up and places the blue cube." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_32", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_32", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_32.hdf5", + "verdict": "fail", + "onset": 3.387628, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The left gripper grasped the blue cube before the right gripper had dragged the basket to the center.\nResult: The cube was placed in a misaligned basket.", + "avoidance": "The right gripper moves the basket to the center first, and then the left gripper grasps the blue cube into the basket." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_35", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_35", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_35.hdf5", + "verdict": "fail", + "onset": 3.100634, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the left gripper grasped the blue cube before the right gripper had dragged the basket to the center, violating the execution order.\nResult: The cube was placed in a misaligned basket, violating execution order", + "avoidance": "Move the right arm to approach and align with the basket first." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_149", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_149", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_149.hdf5", + "verdict": "fail", + "onset": 3.029787, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the basket has been occluded by the green plate, which prevented the right gripper from targeting it\nResult: the right gripper failed to grasp the basket", + "avoidance": "This is unavoidable; the basket has been occluded by the green plate." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_150", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_150", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_150.hdf5", + "verdict": "fail", + "onset": 4.16, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The basket is occluded by a green plate, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the basket.", + "avoidance": "This is unavoidable; the basket is occluded by a green plate." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_151", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_151", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_151.hdf5", + "verdict": "fail", + "onset": 2.77721, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: The basket has been taken away by a human, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the basket.", + "avoidance": "This is unavoidable; the basket has been taken away by a human." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_152", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_152", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_152.hdf5", + "verdict": "fail", + "onset": 2.962421, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to approach and align with the basket.\nObservation: the basket has been taken away by a human, which prevents the right gripper from grasping it\nResult: the right gripper failed to grasp the basket", + "avoidance": "This is unavoidable; the basket has been taken away by a human." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_153", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_153", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_153.hdf5", + "verdict": "fail", + "onset": 10.72, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube is occluded by a green plate, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.", + "avoidance": "This is unavoidable; the blue cube is occluded by a green plate." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_154", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_154", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_154.hdf5", + "verdict": "fail", + "onset": 8.72, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube is occluded by a green plate, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.", + "avoidance": "This is unavoidable; the blue cube is occluded by a green plate." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_155", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_155", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_155.hdf5", + "verdict": "fail", + "onset": 11.12, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.", + "avoidance": "This is unavoidable; the blue cube has been taken away by a human." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_156", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_156", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_156.hdf5", + "verdict": "fail", + "onset": 8.92, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: The blue cube has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the blue cube.", + "avoidance": "This is unavoidable; the blue cube has been taken away by a human." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_157", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_157", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_157.hdf5", + "verdict": "fail", + "onset": 8.68, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align with the blue cube.\nObservation: the human hand occluded the blue cube, which prevented the left gripper from grasping it\nResult: the left gripper failed to grasp the blue cube", + "avoidance": "This is unavoidable; the target object has been occluded." + }, + { + "sample": "drag_basket_place_cube_ep1_episode_158", + "task_id": "drag_basket_place_cube_ep1", + "episode": "episode_158", + "robot": "agilex", + "hdf5": "episodes/drag_basket_place_cube_ep1/episode_158.hdf5", + "verdict": "fail", + "onset": 11.72, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to position the blue cube over the basket.\nObservation: The basket is occluded by human hands, which prevents the left gripper from placing the blue cube into it.\nResult: The left gripper failed to place the blue cube into the basket.", + "avoidance": "This is unavoidable; the basket is occluded by human hands." + }, + { + "sample": "grasp_bottle_place_bowl_episode_0", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_0.hdf5", + "verdict": "fail", + "onset": 2.431894, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The right gripper was incorrectly used instead of the left gripper to approach and grasp the bottle.\nResult: The left gripper failed to approach and grasp the bottle.", + "avoidance": "Move the left arm instead of the right arm to approach and align the bottle." + }, + { + "sample": "grasp_bottle_place_bowl_episode_1", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_bottle_place_bowl_episode_5", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_5.hdf5", + "verdict": "fail", + "onset": 2.968947, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle with its orientation misaligned relative to the bottle.\nResult: The left gripper failed to align with and grasp the bottle.", + "avoidance": "Rotate the left gripper counterclockwise before grasping." + }, + { + "sample": "grasp_bottle_place_bowl_episode_6", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_6.hdf5", + "verdict": "fail", + "onset": 3.16, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: the left gripper approached the bottle offset slightly to the left and slightly forward with its orientation misaligned relative to the bottle. Result: the gripper failed to grasp the bottle.", + "avoidance": "Move the left gripper slightly to the right and backward, and rotate it counterclockwise." + }, + { + "sample": "grasp_bottle_place_bowl_episode_7", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_7.hdf5", + "verdict": "fail", + "onset": 2.647944, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the bottle.\nObservation: the left gripper failed to close with sufficient force to grasp the bottle\nResult: The bottle remained on the table and was not lifted.", + "avoidance": "Close the left gripper" + }, + { + "sample": "grasp_bottle_place_bowl_episode_8", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_8.hdf5", + "verdict": "fail", + "onset": 3.44331, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the left gripper failed to maintain a secure grasp on the bottle during the alignment phase, causing it to drop.\nResult: he bottle was dropped and is not aligned with the pink bowl", + "avoidance": "Close the left gripper more tightly" + }, + { + "sample": "grasp_bottle_place_bowl_episode_10", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_10.hdf5", + "verdict": "fail", + "onset": 2.012689, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: the left gripper approached the bottle grasp axis offset significantly upward\nResult: the gripper could not securely grasp the bottle", + "avoidance": "Move the left gripper to the downward significantly." + }, + { + "sample": "grasp_bottle_place_bowl_episode_11", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_11.hdf5", + "verdict": "fail", + "onset": 3.480846, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle, offset significantly backward and slightly to the right.\nResult: The left gripper failed to align with and grasp the bottle.", + "avoidance": "Move the left gripper significantly forward and slightly left before grasping." + }, + { + "sample": "grasp_bottle_place_bowl_episode_12", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_12.hdf5", + "verdict": "fail", + "onset": 4.058105, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The left gripper aligned and released the bottle into the purple bowl instead of the pink bowl.\nResult: The left gripper failed to place the bottle into the pink bowl.", + "avoidance": "Move the left arm to align with the pink bowl instead of the purple bowl." + }, + { + "sample": "grasp_bottle_place_bowl_episode_13", + "task_id": "grasp_bottle_place_bowl", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/grasp_bottle_place_bowl/episode_13.hdf5", + "verdict": "fail", + "onset": 2.731052, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the bottle.\nObservation: The left gripper approached the bottle with its orientation misaligned relative to the bottle.\nResult: The left gripper failed to grasp the bottle.", + "avoidance": "Rotate the left gripper counterclockwise." + }, + { + "sample": "grasp_coke_can_put_tray_episode_0", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_coke_can_put_tray_episode_1", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_coke_can_put_tray_episode_2", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_coke_can_put_tray_episode_5", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_5.hdf5", + "verdict": "fail", + "onset": 4.862234, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the green tray.\nObservation: the right gripper placed the Coke can on the purple plate instead of the green tray\nResult: the coke can is misplaced", + "avoidance": "Move the right arm to align with the green tray instead of the purple plate." + }, + { + "sample": "grasp_coke_can_put_tray_episode_6", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_6.hdf5", + "verdict": "fail", + "onset": 2.419788, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the Coke can.\nObservation: The right gripper incorrectly targeted and moved the red cube instead of the Coke can.\nResult: The right gripper failed to grasp the red cube.", + "avoidance": "The right gripper needs to grasp the Coke can." + }, + { + "sample": "grasp_coke_can_put_tray_episode_14", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_14.hdf5", + "verdict": "fail", + "onset": 7.817705, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the green tray.\nObservation: The Coke can was dropped by the right gripper during the transferring phase.\nResult: The right gripper failed to place the Coke can in the tray.", + "avoidance": "Close the right gripper enough to maintain a secure grasp during transferring." + }, + { + "sample": "grasp_coke_can_put_tray_episode_15", + "task_id": "grasp_coke_can_put_tray", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_coke_can_put_tray/episode_15.hdf5", + "verdict": "fail", + "onset": 4.191525, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the Coke can.\nObservation: The right gripper failed to close sufficiently to secure the Coke can.\nResult: The right gripper failed to grasp and move the Coke can.", + "avoidance": "Close the right gripper tightly to secure the Coke can." + }, + { + "sample": "grasp_cube_place_shelf_episode_0", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_cube_place_shelf_episode_2", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_2.hdf5", + "verdict": "fail", + "onset": 2.138105, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube offset slightly forward, misaligning its grasp axis.\nResult: the gripper failed to securely grasp the tube", + "avoidance": "Move the right arm backward slightly before grasping." + }, + { + "sample": "grasp_cube_place_shelf_episode_3", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_3.hdf5", + "verdict": "fail", + "onset": 2.197476, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube offset slightly backward\nResult: the gripper could not securely grasp the tube", + "avoidance": "Move the right gripper to the forward slightly." + }, + { + "sample": "grasp_cube_place_shelf_episode_6", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_6.hdf5", + "verdict": "fail", + "onset": 2.504922, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the test tube.\nObservation: the right gripper failed to close sufficiently to secure the test tube\nResult: the right gripper failed to grasp the test tube", + "avoidance": "Close the right gripper sufficiently to secure the test tube." + }, + { + "sample": "grasp_cube_place_shelf_episode_8", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_8.hdf5", + "verdict": "fail", + "onset": 3.037075, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the left arm was incorrectly used to manipulate the test tube, even though the task plan required the right arm \nResult: The task plan is violated", + "avoidance": "Move the right arm instead of the left to approach and align with the test tube." + }, + { + "sample": "grasp_cube_place_shelf_episode_9", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_9.hdf5", + "verdict": "fail", + "onset": 3.275862, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube with its orientation misaligned relative to the test tube's grasp axis.\nResult: The right gripper missed the grasp with the test tube.", + "avoidance": "Rotate the right gripper counterclockwise." + }, + { + "sample": "grasp_cube_place_shelf_episode_10", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_10.hdf5", + "verdict": "fail", + "onset": 4.26304, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube, offset slightly backward\nResult: the right gripper failed to align with and grasp the test tube", + "avoidance": "Move the right gripper slightly forward before grasping." + }, + { + "sample": "grasp_cube_place_shelf_episode_13", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_13.hdf5", + "verdict": "fail", + "onset": 2.824841, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper approached the test tube, offset significantly to the right.\nResult: the right gripper failed to grasp the test tube.", + "avoidance": "Move the right gripper significantly to the left before grasping." + }, + { + "sample": "grasp_cube_place_shelf_episode_14", + "task_id": "grasp_cube_place_shelf", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_cube_place_shelf/episode_14.hdf5", + "verdict": "fail", + "onset": 4.095577, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the test tube.\nObservation: the right gripper failed to close sufficiently to grasp the test tube\nResult: the right gripper failed to grasp the test tube", + "avoidance": "Close the right gripper sufficiently to secure the test tube." + }, + { + "sample": "grasp_duck_put_cup_episode_0", + "task_id": "grasp_duck_put_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_duck_put_cup_episode_1", + "task_id": "grasp_duck_put_cup", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_duck_put_cup_episode_2", + "task_id": "grasp_duck_put_cup", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_duck_put_cup_episode_3", + "task_id": "grasp_duck_put_cup", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_3.hdf5", + "verdict": "fail", + "onset": 4.4936615, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the cup.\nObservation: The right arm placed the duck on the plate instead of the cup.\nResult: The right arm failed to move the duck to the cup.", + "avoidance": "Move the right arm to align with the cup instead of the plate." + }, + { + "sample": "grasp_duck_put_cup_episode_5", + "task_id": "grasp_duck_put_cup", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_5.hdf5", + "verdict": "fail", + "onset": 2.078104, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the yellow duck.\nObservation: The right gripper approached and grasped the computer mouse instead of the yellow duck.\nResult: The right gripper failed to grasp the yellow duck.", + "avoidance": "The right gripper needs to grasp the yellow duck." + }, + { + "sample": "grasp_duck_put_cup_episode_6", + "task_id": "grasp_duck_put_cup", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_6.hdf5", + "verdict": "fail", + "onset": 2.655172, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the cup.\nObservation: the right gripper placed the duck on the plate instead of the cup\nResult: the duck was mispalced", + "avoidance": "Move the right arm to align with the cup instead of the purple plate." + }, + { + "sample": "grasp_duck_put_cup_episode_13", + "task_id": "grasp_duck_put_cup", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_13.hdf5", + "verdict": "fail", + "onset": 4.189459, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the yellow duck.\nObservation: The right gripper failed to close sufficiently to grasp the duck.\nResult: The right gripper failed to grasp and move the duck to the cup.", + "avoidance": "Close the right gripper sufficiently to secure the duck when grasping." + }, + { + "sample": "grasp_duck_put_cup_episode_15", + "task_id": "grasp_duck_put_cup", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_duck_put_cup/episode_15.hdf5", + "verdict": "fail", + "onset": 5.417697, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the cup.\nObservation: The right gripper failed to maintain a secure grasp on the orange object during the moving phase, dropping the duck before aligning with the cup\nResult: The gripper failed to place the orange duck on the cup.", + "avoidance": "Close the gripper more tightly during alignment." + }, + { + "sample": "grasp_filter_place_juicer_episode_0", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_filter_place_juicer_episode_1", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_1.hdf5", + "verdict": "fail", + "onset": 3.363052, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter.\nResult: the left gripper failed to grasp the filter.", + "avoidance": "Rotate the left gripper counterclockwise." + }, + { + "sample": "grasp_filter_place_juicer_episode_4", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_4.hdf5", + "verdict": "fail", + "onset": 3.391227, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter,\nResult: the gripper failed to secure the object, leading to task abortion.", + "avoidance": "Rotate the left gripper." + }, + { + "sample": "grasp_filter_place_juicer_episode_5", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_5.hdf5", + "verdict": "fail", + "onset": 2.604226, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align the filter.\nObservation: The left gripper did not open to grasp the filter.\nResult: The left gripper failed to grasp the filter.", + "avoidance": "Open the left gripper to grasp the filter." + }, + { + "sample": "grasp_filter_place_juicer_episode_6", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_6.hdf5", + "verdict": "fail", + "onset": 4.535368, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the juicer.\nObservation: the left gripper failed to maintain a secure grasp on the filter during the alignment phase, causing the filter to drop midway.\nResult: the left arm failed to move the filter to the juicer.", + "avoidance": "Close the left gripper tightly while moving" + }, + { + "sample": "grasp_filter_place_juicer_episode_11", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_11.hdf5", + "verdict": "fail", + "onset": 2.838504, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the filter.\nObservation: The left gripper did not close to grasp the filter after aligning.\nResult: The left gripper failed to grasp the filter.", + "avoidance": "The left gripper should be closed." + }, + { + "sample": "grasp_filter_place_juicer_episode_13", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_13.hdf5", + "verdict": "fail", + "onset": 2.818947, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the filter.\nObservation: the left gripper approached the filter with its orientation misaligned relative to the filter\nResult: the left gripper failed to grasp the filter", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "grasp_filter_place_juicer_episode_18", + "task_id": "grasp_filter_place_juicer", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/grasp_filter_place_juicer/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_drawer_episode_0", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_drawer_episode_1", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_drawer_episode_2", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_drawer_episode_3", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 2.572137, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the knife holder.\nObservation: The left arm erroneously initiated the approach to the knife holder, instead of the designated right arm.\nResult: The right arm failed to grasp the knife holder", + "avoidance": "Move the right arm instead of the left to approach and align with the knife holder." + }, + { + "sample": "grasp_knife_place_drawer_episode_5", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 2.393526, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the knife.\nObservation: the right gripper incorrectly targeted and grasped the black eraser instead of the green knife\nResult: the right gripper failed to grasp the knife", + "avoidance": "Move the right arm to approach and align with the knife instead of the black eraser." + }, + { + "sample": "grasp_knife_place_drawer_episode_13", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_13.hdf5", + "verdict": "fail", + "onset": 3.947263, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the knife from the holder.\nObservation: The right gripper failed to close sufficiently to grasp the knife.\nResult: The right gripper failed to grasp and move the knife to the drawer.", + "avoidance": "Close the right gripper tightly to secure the knife." + }, + { + "sample": "grasp_knife_place_drawer_episode_14", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 2.579, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the drawer.\nObservation: The right gripper accidentally opened (released its grip) after grasping the knife and while moving toward the drawer.\nResult: The right gripper failed to move the knife to the drawer.", + "avoidance": "Close the right gripper tightly to secure the knife when moving." + }, + { + "sample": "grasp_knife_place_drawer_episode_15", + "task_id": "grasp_knife_place_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 5.32, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the knife in the drawer.\nObservation: the right gripper failed to open to release the knife during the placement subtask\nResult: the knife remained clamped and could not be deposited into the drawer.", + "avoidance": "Open the right gripper to place the knife drawer in the release phase" + }, + { + "sample": "grasp_knife_place_plate_episode_0", + "task_id": "grasp_knife_place_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_plate_episode_1", + "task_id": "grasp_knife_place_plate", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_plate_episode_2", + "task_id": "grasp_knife_place_plate", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_knife_place_plate_episode_3", + "task_id": "grasp_knife_place_plate", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_3.hdf5", + "verdict": "fail", + "onset": 2.410892, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: The left gripper incorrectly targeted the marker instead of the knife.\nResult: The left gripper incorrectly grasped the marker and placed it onto the plate.", + "avoidance": "The left gripper needs to grasp the knife." + }, + { + "sample": "grasp_knife_place_plate_episode_6", + "task_id": "grasp_knife_place_plate", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_6.hdf5", + "verdict": "fail", + "onset": 3.609736, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: the right gripper moved instead of the planned left gripper and grasped the marker instead of the knife\nResult: the left gripper failed to grasp the knife", + "avoidance": "Move the left arm instead of the right arm to approach and align with the knife holder." + }, + { + "sample": "grasp_knife_place_plate_episode_12", + "task_id": "grasp_knife_place_plate", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_12.hdf5", + "verdict": "fail", + "onset": 3.12, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the knife holder.\nObservation: the left gripper approached the knife offset slightly to the left with its orientation misaligned relative to the knife\nResult: The knife was not secured during the grasp phase", + "avoidance": "Move the left gripper to the right slightly, and rotate the left gripper\\" + }, + { + "sample": "grasp_knife_place_plate_episode_14", + "task_id": "grasp_knife_place_plate", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_14.hdf5", + "verdict": "fail", + "onset": 2.72971, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper failed to close sufficient when grasping the knife, causing it to drop during alignment with the plate\nResult: The knife was incorrectly dropped onto the table", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "grasp_knife_place_plate_episode_15", + "task_id": "grasp_knife_place_plate", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_knife_place_plate/episode_15.hdf5", + "verdict": "fail", + "onset": 4.56821, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the knife on the plate.\nObservation: the left gripper failed to open fully during the release phase\nResult: the left gripper failed to place the knife on the green plate", + "avoidance": "Open the left gripper during release." + }, + { + "sample": "grasp_marker_place_in_cup_episode_0", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_marker_place_in_cup_episode_3", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_3.hdf5", + "verdict": "fail", + "onset": 2.205755, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker offset slightly forward, failing to align its grasp axis with the marker’s longitudinal axis\nResult: The gripper could not grasp the marker.", + "avoidance": "The marker should perform this action offset slightly backward." + }, + { + "sample": "grasp_marker_place_in_cup_episode_7", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_7.hdf5", + "verdict": "fail", + "onset": 2.406068, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker.\nObservation: the right gripper failed to close sufficiently to grasp the marker\nResult: the marker remained on the table and was not lifted.", + "avoidance": "Close the right gripper sufficiently" + }, + { + "sample": "grasp_marker_place_in_cup_episode_8", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_8.hdf5", + "verdict": "fail", + "onset": 2.558368, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the purple cup.\nObservation: the right gripper unexpectedly opened immediately after grasping the marker, causing the marker to slip from its grasp and fall.\nResult: the right gripper faield to move the marker to the purple cup", + "avoidance": "Close the right gripper tightly to grasp the marker." + }, + { + "sample": "grasp_marker_place_in_cup_episode_9", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_9.hdf5", + "verdict": "fail", + "onset": 2.379034, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm was incorrectly used to manipulate the marker, even though the task plan required the right arm.\nResult: The task plan is violated.", + "avoidance": "Move the right arm instead of the left to approach and align the marker." + }, + { + "sample": "grasp_marker_place_in_cup_episode_10", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_10.hdf5", + "verdict": "fail", + "onset": 2.465175, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: he right gripper approached the marker offset significantly to the right with its orientation misaligned with the marker.\nResult: the right gripper failed to grasp the marker.", + "avoidance": "Move the right gripper to the left significantly, and rotate the right gripper clockwise to the marker." + }, + { + "sample": "grasp_marker_place_in_cup_episode_12", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_12.hdf5", + "verdict": "fail", + "onset": 2.485241, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker with its orientation misaligned relative to the marker, causing a misalignment during grasp\nResult: the gripper failed to securely pick up the marker, preventing placement in the cup.", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "grasp_marker_place_in_cup_episode_17", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_17.hdf5", + "verdict": "fail", + "onset": 3.578902, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to align with the purple cup.\nObservation: The right gripper approached the cup offset slightly to the left during the approach, causing the marker to be dropped beside it instead of inserted.\nResult: The right gripper failed to place the marker in the purple cup.", + "avoidance": "Move the right gripper to the right slightly." + }, + { + "sample": "grasp_marker_place_in_cup_episode_18", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_18.hdf5", + "verdict": "fail", + "onset": 1.165052, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the cup, offset significantly to the right and upward, causing it to strike and knock over the cup during alignment.\nResult: The gripper failed to grasp the marker.", + "avoidance": "Move the right gripper significantly to the left and downward." + }, + { + "sample": "grasp_marker_place_in_cup_episode_19", + "task_id": "grasp_marker_place_in_cup", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/grasp_marker_place_in_cup/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_spatula_place_basket_episode_0", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_spatula_place_basket_episode_1", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_spatula_place_basket_episode_2", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_spatula_place_basket_episode_3", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_3.hdf5", + "verdict": "fail", + "onset": 2.697642, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the right gripper, not the planned left, was commanded to grasp the spatula.\nResult:the left gripper failed to approach and grasp the spatula.", + "avoidance": "Move the left arm instead of the right arm to approach and align the wooden spatula." + }, + { + "sample": "grasp_spatula_place_basket_episode_4", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_4.hdf5", + "verdict": "fail", + "onset": 2.060992, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: The left gripper incorrectly targeted and picked up the red marker instead of the wooden spatula during the alignment phase.\nResult: The left gripper did not grasp the wooden spatula.", + "avoidance": "The left gripper should align with the wooden spatula." + }, + { + "sample": "grasp_spatula_place_basket_episode_6", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_6.hdf5", + "verdict": "fail", + "onset": 2.57142, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the right gripper, not the left, was commanded to grasp the spatula, violating the task plan\nResult: he wrong arm executed the grasp, leading to incorrect object handling.", + "avoidance": "Move the left arm instead of the right to approach and align the wooden spatula." + }, + { + "sample": "grasp_spatula_place_basket_episode_9", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_9.hdf5", + "verdict": "fail", + "onset": 2.493473, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: The left gripper approached the spatula with its orientation misaligned relative to the spatula.\nResult: The left gripper failed to grasp the spatula.", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "grasp_spatula_place_basket_episode_12", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_12.hdf5", + "verdict": "fail", + "onset": 2.322939, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the wooden spatula.\nObservation: the left gripper approached the spatula with its orientation misaligned relative to the spatula\nResult: the left gripper failed to grasp the wooden spatula", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "grasp_spatula_place_basket_episode_15", + "task_id": "grasp_spatula_place_basket", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_place_basket/episode_15.hdf5", + "verdict": "fail", + "onset": 5.292789, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the wooden spatula into the blue basket.\nObservation: The left gripper stops and holds the wooden spatula above the blue basket without releasing it.\nResult: The left gripper failed to open to release the wooden spatula into the blue basket.", + "avoidance": "Open the left gripper to release the wooden spatula." + }, + { + "sample": "grasp_spatula_put_pot_episode_0", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_spatula_put_pot_episode_1", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_1.hdf5", + "verdict": "fail", + "onset": 2.031155, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset slightly to the left.\nResult: The right gripper failed to align with and grasp the spatula.", + "avoidance": "Move the right gripper slightly to the right before grasping." + }, + { + "sample": "grasp_spatula_put_pot_episode_2", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_2.hdf5", + "verdict": "fail", + "onset": 1.8404475, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: the right gripper approached the spatula offset slightly to the right, failing to align its grasp pose with the spatula’s handle axis.\nResult: the gripper collided with the spatula and could not grasp it", + "avoidance": "Move the right gripper to the left slightly." + }, + { + "sample": "grasp_spatula_put_pot_episode_3", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 3.004105, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the wooden spatula.\nObservation: the right gripper failed to close sufficiently to grasp the wooden spatula\nResult: the right gripper failed to grasp the wooden spatula", + "avoidance": "Close the right gripper sufficiently to grasp the wooden spatula." + }, + { + "sample": "grasp_spatula_put_pot_episode_5", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 2.842587, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: the right gripper approached the spatula with its orientation misaligned relative to the spatula, causing a misalignment during grasp.\nResult: the spatula was not secured and slipped.", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "grasp_spatula_put_pot_episode_7", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_7.hdf5", + "verdict": "fail", + "onset": 1.852631, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset significantly backward.\nResult: The right gripper failed to grasp the spatula.", + "avoidance": "Move the right gripper significantly forward." + }, + { + "sample": "grasp_spatula_put_pot_episode_9", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_9.hdf5", + "verdict": "fail", + "onset": 2.693893, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the wooden spatula while its orientation was misaligned relative to the spatula.\nResult: The right gripper failed to grasp the spatula.", + "avoidance": "Rotate the right gripper clockwise to align with the spatula." + }, + { + "sample": "grasp_spatula_put_pot_episode_11", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_11.hdf5", + "verdict": "fail", + "onset": 1.953631, + "type": [ + "orientation_error", + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper approached the spatula, offset significantly backward, with its orientation misaligned relative to the spatula’s handle.\nResult: The right gripper failed to grasp the wooden spatula.", + "avoidance": "Move the right gripper significantly forward, and rotate the right gripper clockwise." + }, + { + "sample": "grasp_spatula_put_pot_episode_12", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_12.hdf5", + "verdict": "fail", + "onset": 3.316315, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the wooden spatula.\nObservation: The right gripper is offset significantly to the left and backward relative to the spatula, failing to align its jaws parallel to the spatula’s handle.\nResult: The right arm failed to grasp the wooden spatula.", + "avoidance": "Move the right gripper to the right and forward significantly." + }, + { + "sample": "grasp_spatula_put_pot_episode_14", + "task_id": "grasp_spatula_put_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_spatula_put_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 3.77821, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the wooden spatula.\nObservation: The right gripper failed to close sufficiently to grasp the wooden spatula.\nResult: The right gripper failed to grasp the wooden spatula.", + "avoidance": "Close the right gripper sufficiently to grasp the wooden spatula." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_0", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_test_tube_place_bowl_episode_1", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_test_tube_place_bowl_episode_2", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "grasp_test_tube_place_bowl_episode_3", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_3.hdf5", + "verdict": "fail", + "onset": 1.939641, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper incorrectly targeted the pen instead of the test tube during the approach phase.\nResult: the gripper fails to grasp the test tube", + "avoidance": "Move the right arm to approach and align with the test tube instead of the pen." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_4", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_4.hdf5", + "verdict": "fail", + "onset": 2.558848, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper was supposed to grasp the socket, but instead, the left gripper was extended.\nResult: The left gripper moved into the workspace incorrectly.", + "avoidance": "Move the right arm instead to approach and align with the test tube." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_5", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_5.hdf5", + "verdict": "fail", + "onset": 2.657368, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left gripper, instead of the planned right gripper, grasped the test tube, while the right gripper remained still.\nResult: The right gripper failed to grasp the test tube.", + "avoidance": "Move the right arm to approach and align with the test tube." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_6", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_6.hdf5", + "verdict": "fail", + "onset": 5.877894, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right arm incorrectly placed the test tube into the purple cup instead of the blue bowl.\nResult: The right arm placed the test tube into the purple cup.", + "avoidance": "The right arm places the test tube into the blue bowl." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_12", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_12.hdf5", + "verdict": "fail", + "onset": 5.135388, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper approached the test tube, offset significantly to the right, with its orientation anticlockwise to the test tube.\nResult: The right gripper failed to align with the test tube.", + "avoidance": "Move the right gripper left and rotate clockwise to the test tube." + }, + { + "sample": "grasp_test_tube_place_bowl_episode_14", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_14.hdf5", + "verdict": "fail", + "onset": 3.815842, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper did not open during the 'Grasp the test tube' subtask.\nResult: The right gripper failed to grasp the test tube.", + "avoidance": "Open the right gripper to grasp" + }, + { + "sample": "grasp_test_tube_place_bowl_episode_15", + "task_id": "grasp_test_tube_place_bowl", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/grasp_test_tube_place_bowl/episode_15.hdf5", + "verdict": "fail", + "onset": 8.279999, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the test tube into the blue bowl.\nObservation: e the right gripper failed to open fully during the release phase\nResult: the test tube remained clamped and was not placed into the bowl", + "avoidance": "Open the right gripper to release the test tube" + }, + { + "sample": "hold_socket_plug_episode_0", + "task_id": "hold_socket_plug", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "hold_socket_plug_episode_1", + "task_id": "hold_socket_plug", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "hold_socket_plug_episode_2", + "task_id": "hold_socket_plug", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "hold_socket_plug_episode_3", + "task_id": "hold_socket_plug", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_3.hdf5", + "verdict": "fail", + "onset": 2.162186, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper was not positioned to hold the socket before the left arm attempted insertion.\nResult: The socket was not grasped by the right arm.", + "avoidance": "Move the right arm to approach and align with the socket." + }, + { + "sample": "hold_socket_plug_episode_4", + "task_id": "hold_socket_plug", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_4.hdf5", + "verdict": "fail", + "onset": 3.348684, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the plug.\nObservation: The right arm incorrectly grasped the power strip instead of holding it steady for the left arm's insertion.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the plug.", + "avoidance": "The right arm holds the socket in place, and then the left arm moves to grasp the plug." + }, + { + "sample": "hold_socket_plug_episode_5", + "task_id": "hold_socket_plug", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_5.hdf5", + "verdict": "fail", + "onset": 5.686578, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the plug.\nObservation: The left arm incorrectly targeted the mouse instead of the plug.\nResult: The left arm failed to grasp the plug.", + "avoidance": "Move the left arm to approach and align with the plug instead of the mouse." + }, + { + "sample": "hold_socket_plug_episode_6", + "task_id": "hold_socket_plug", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_6.hdf5", + "verdict": "fail", + "onset": 3.27062, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: the left gripper approached and aligned with the socket instead of the designated right gripper\nResult: The task sequence plan is violated", + "avoidance": "Move the right arm instead of the left arm to grab and stabilize the socket, and use the left arm to approach the plug." + }, + { + "sample": "hold_socket_plug_episode_13", + "task_id": "hold_socket_plug", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_13.hdf5", + "verdict": "fail", + "onset": 2.892631, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the socket.\nObservation: The right gripper did not open during the grasping phase.\nResult: The right gripper failed to grasp and held the socket.", + "avoidance": "Open the right gripper to grasp" + }, + { + "sample": "hold_socket_plug_episode_14", + "task_id": "hold_socket_plug", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_14.hdf5", + "verdict": "fail", + "onset": 6.96342, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the plug with the left arm.\nObservation: the left gripper failed to close sufficiently to grasp the plug\nResult: the plug remained on the table, preventing insertion.", + "avoidance": "Close the left gripper sufficiently" + }, + { + "sample": "hold_socket_plug_episode_15", + "task_id": "hold_socket_plug", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/hold_socket_plug/episode_15.hdf5", + "verdict": "fail", + "onset": 5.530465, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align the plug with the socket.\nObservation: The left gripper failed to close with sufficient force to grasp the plug.\nResult: The left arm failed to align the plug with the socket.", + "avoidance": "Close the left gripper with sufficient force to maintain the grasp." + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_1", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_3", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_4", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_5", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_7", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_8", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_9", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_10", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_11", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_13", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_14", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_15", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_16", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_17", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_19", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_20", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_21", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_22", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_23", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_place_cube_ep1_episode_24", + "task_id": "lift_lid_and_place_cube_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_place_cube_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_put_green_duck_episode_0", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_and_put_green_duck_episode_1", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_1.hdf5", + "verdict": "fail", + "onset": 10.719468, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: the left gripper incorrectly targeted and grasped the green cube instead of the green duck.\nResult: the left gripper failed to grasp the green duck.", + "avoidance": "The left gripper needs to grasp the green duck." + }, + { + "sample": "lift_lid_and_put_green_duck_episode_4", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_4.hdf5", + "verdict": "fail", + "onset": 4.201368, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The right gripper approached the pot lid, offset slightly to the left.\nResult: The right gripper failed to grasp the pot lid.", + "avoidance": "Move the right gripper to the right slightly to align with the lid." + }, + { + "sample": "lift_lid_and_put_green_duck_episode_8", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_8.hdf5", + "verdict": "fail", + "onset": 5.78262, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the pot lid with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the pot lid\nResult: the lid was not lifted,", + "avoidance": "Close the right gripper more tightly" + }, + { + "sample": "lift_lid_and_put_green_duck_episode_9", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_9.hdf5", + "verdict": "fail", + "onset": 12.387199, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green duck with the left arm.\nObservation: the left gripper failed to close sufficiently to grasp the green duck \nResult: the duck was not picked up or aligned with the pot", + "avoidance": "Close the left gripper" + }, + { + "sample": "lift_lid_and_put_green_duck_episode_12", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_12.hdf5", + "verdict": "fail", + "onset": 10.508488, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper approached the green duck, offset slightly backward.\nResult: The left gripper failed to grasp the green duck.", + "avoidance": "Move the left gripper slightly forward." + }, + { + "sample": "lift_lid_and_put_green_duck_episode_13", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_13.hdf5", + "verdict": "fail", + "onset": 9.030785, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: the left gripper approached the green duck offset slightly forward and significantly upward, misaligning its grasp. \nResult: the left gripper failed to grasp the green duck.", + "avoidance": "Move the left gripper slightly backward and significantly downward during alignment." + }, + { + "sample": "lift_lid_and_put_green_duck_episode_16", + "task_id": "lift_lid_and_put_green_duck", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/lift_lid_and_put_green_duck/episode_16.hdf5", + "verdict": "fail", + "onset": 9.066315, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper approached the green duck, offset significantly to the left and upward.\nResult: The left gripper failed to grasp the green duck.", + "avoidance": "Move the left gripper to the right and downward significantly." + }, + { + "sample": "lift_lid_place_duck_episode_0", + "task_id": "lift_lid_place_duck", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_place_duck_episode_1", + "task_id": "lift_lid_place_duck", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_place_duck_episode_2", + "task_id": "lift_lid_place_duck", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_place_duck_episode_3", + "task_id": "lift_lid_place_duck", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_3.hdf5", + "verdict": "fail", + "onset": 1.689473, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The left gripper prematurely grasped and placed the green duck into the pot before the right gripper lifted the lid.\nResult: The duck was placed above the lid, obstructing the intended sequence.", + "avoidance": "The right gripper needs to lift the pot lid first, and then the left gripper grasps and puts the green duck into the pot." + }, + { + "sample": "lift_lid_place_duck_episode_5", + "task_id": "lift_lid_place_duck", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_5.hdf5", + "verdict": "fail", + "onset": 1.969684, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: The left gripper mistakenly attempted to lift the lid, while it was planned by the right arm.\nResult: The right arm failed to approach and move the pot lid.", + "avoidance": "Move the right arm instead of the left arm to approach and align with the pot lid." + }, + { + "sample": "lift_lid_place_duck_episode_6", + "task_id": "lift_lid_place_duck", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_6.hdf5", + "verdict": "fail", + "onset": 6.072105, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the green duck.\nObservation: The left gripper incorrectly selected and moved the blue stapler instead of the green duck.\nResult: The left gripper failed to grasp and move the green duck to the pot.", + "avoidance": "Move the left arm to approach and align with the green duck instead of the stapler." + }, + { + "sample": "lift_lid_place_duck_episode_9", + "task_id": "lift_lid_place_duck", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_9.hdf5", + "verdict": "fail", + "onset": 3.743593, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper approached the pot lid with its orientation misaligned relative to the pot lid, causing it to collide with the lid handle.\nResult: the gripper failed to grasp the pot lid with the right arm.", + "avoidance": "Rotate the right gripper counterclockwise before colliding with the lid handle." + }, + { + "sample": "lift_lid_place_duck_episode_10", + "task_id": "lift_lid_place_duck", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_10.hdf5", + "verdict": "fail", + "onset": 2.313809, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper approached the pot lid with its orientation misaligned relative to the pot lid handle.\nResult: the right gripper failed to grasp the lid of the pot.", + "avoidance": "Rotate the right gripper clockwise to the pot lid before grasping." + }, + { + "sample": "lift_lid_place_duck_episode_13", + "task_id": "lift_lid_place_duck", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_duck/episode_13.hdf5", + "verdict": "fail", + "onset": 1.454645, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the pot lid.\nObservation: the right gripper failed to open fully, preventing it from properly grasping the pot lid during the approach phase\nResult: the right gripper was unable to grasp the pot lid", + "avoidance": "Open the right gripper while moving it close to the pot lid." + }, + { + "sample": "lift_lid_place_pot_episode_0", + "task_id": "lift_lid_place_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "lift_lid_place_pot_episode_2", + "task_id": "lift_lid_place_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_2.hdf5", + "verdict": "fail", + "onset": 1.539473, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset slightly to the right, causing it to miss the handle during grasp.\nResult: The left gripper failed to grasp the handle of the pot lid.", + "avoidance": "Move the left gripper slightly to the left." + }, + { + "sample": "lift_lid_place_pot_episode_3", + "task_id": "lift_lid_place_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 1.997241, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: the left gripper approached the lid offset significantly forward, misaligning its grasp point relative to the handle. \nResult: the gripper failed to securely engage the handle during the grasp", + "avoidance": "Move the left gripper to the backward significantly." + }, + { + "sample": "lift_lid_place_pot_episode_5", + "task_id": "lift_lid_place_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 1.89221, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset slightly upward, misaligning its grasp point relative to the handle.\nResult: The left gripper failed to grasp the lid handle.", + "avoidance": "Move the left gripper slightly downward." + }, + { + "sample": "lift_lid_place_pot_episode_6", + "task_id": "lift_lid_place_pot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_6.hdf5", + "verdict": "fail", + "onset": 2.466947, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid handle with its orientation misaligned relative to the lid handle.\nResult: The left gripper failed to grasp the lid handle.", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "lift_lid_place_pot_episode_7", + "task_id": "lift_lid_place_pot", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_7.hdf5", + "verdict": "fail", + "onset": 2.576842, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the lid of the pot.\nObservation: The left gripper failed to close sufficiently to grasp the lid handle.\nResult: The left gripper failed to grasp the pot lid handle.", + "avoidance": "Close the left gripper sufficiently to grasp the pot lid handle." + }, + { + "sample": "lift_lid_place_pot_episode_9", + "task_id": "lift_lid_place_pot", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_9.hdf5", + "verdict": "fail", + "onset": 1.870503, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid handle with a offset rotationally and offset slightly upward.\nResult: The gripper failed to secure the lid.", + "avoidance": "The gripper should rotate by 90 degrees around the grasp axis and move slightly downward." + }, + { + "sample": "lift_lid_place_pot_episode_11", + "task_id": "lift_lid_place_pot", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/lift_lid_place_pot/episode_11.hdf5", + "verdict": "fail", + "onset": 2.147578, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the lid of the pot.\nObservation: The left gripper approached the lid offset significantly to the right, causing it to miss the handle during grasp.\nResult: The left gripper failed to grasp the lid handle.", + "avoidance": "Move the left gripper significantly to the left." + }, + { + "sample": "open_box_place_cable_episode_0", + "task_id": "open_box_place_cable", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_box_place_cable_episode_1", + "task_id": "open_box_place_cable", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_1.hdf5", + "verdict": "fail", + "onset": 1.615894, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The right gripper was positioned significantly upward during approach, causing it to miss the box’s edge and fail to open it.\nResult: The right gripper failed to grasp the edge of the box.", + "avoidance": "Move the right gripper significantly downward." + }, + { + "sample": "open_box_place_cable_episode_2", + "task_id": "open_box_place_cable", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_2.hdf5", + "verdict": "fail", + "onset": 2.024244, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The right gripper approached the paper box, offset slightly backward and with incorrect rotation around the gripper axis.\nResult: The gripper fails to grasp the paper box lid.", + "avoidance": "Rotate the gripper around the axis to align with the paper box lid." + }, + { + "sample": "open_box_place_cable_episode_5", + "task_id": "open_box_place_cable", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_5.hdf5", + "verdict": "fail", + "onset": 5.28, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: the left gripper approached offset slightly to the right during approach\nResult: the left gripper failed to grasp the cable", + "avoidance": "Move the left gripper slightly to the left." + }, + { + "sample": "open_box_place_cable_episode_7", + "task_id": "open_box_place_cable", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_7.hdf5", + "verdict": "fail", + "onset": 1.539993, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the paper box.\nObservation: The left arm incorrectly attempted to open the paper box, a task that was specifically assigned to the right arm.\nResult: The right gripper failed to approach and align the paper box.", + "avoidance": "Move the right arm instead of the left arm to approach and align the paper box." + }, + { + "sample": "open_box_place_cable_episode_8", + "task_id": "open_box_place_cable", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_8.hdf5", + "verdict": "fail", + "onset": 7.48491, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the data cable with the left arm.\nObservation: The left gripper failed to close sufficiently and grasp the data cable during the grasping subtask.\nResult: The cable remained on the table and was not placed in the box.", + "avoidance": "Close the left gripper more tightly" + }, + { + "sample": "open_box_place_cable_episode_9", + "task_id": "open_box_place_cable", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_9.hdf5", + "verdict": "fail", + "onset": 6.682151, + "type": [ + "closing_error", + "open_error" + ], + "reason": "Expected: Move the left arm to align with the open paper box.\nObservation: the left gripper failed to close and grasp the data cable during alignment with the open box.\nResult: the cable remained unsecured and could not be placed in the box.", + "avoidance": "Close the left gripper more tightly" + }, + { + "sample": "open_box_place_cable_episode_10", + "task_id": "open_box_place_cable", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_10.hdf5", + "verdict": "fail", + "onset": 6.214736, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: The left gripper approached the data cable with its orientation misaligned relative to the data cable.\nResult: the cable was not secured, preventing placement into the box.", + "avoidance": "Rotate the left gripper counterclockwise." + }, + { + "sample": "open_box_place_cable_episode_13", + "task_id": "open_box_place_cable", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_box_place_cable/episode_13.hdf5", + "verdict": "fail", + "onset": 5.787763, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the data cable.\nObservation: The left gripper approached the cable, offset slightly to the left and backward, during cable approach.\nResult: The left gripper failed to grasp the cable.", + "avoidance": "Move the left gripper slightly to the right and forward." + }, + { + "sample": "open_box_place_marker_episode_0", + "task_id": "open_box_place_marker", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_box_place_marker_episode_1", + "task_id": "open_box_place_marker", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_box_place_marker_episode_2", + "task_id": "open_box_place_marker", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_box_place_marker_episode_4", + "task_id": "open_box_place_marker", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_4.hdf5", + "verdict": "fail", + "onset": 8.071889, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The left gripper, not the right, picked up the marker after opening the paper box.\nResult: The right gripper failed to approach and grasp the marker.", + "avoidance": "Move the right arm instead of the left to approach and align with the marker." + }, + { + "sample": "open_box_place_marker_episode_6", + "task_id": "open_box_place_marker", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_6.hdf5", + "verdict": "fail", + "onset": 7.521605, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper incorrectly approached and picked up the spoon instead of the marker.\nResult: The right gripper picked up the wrong target instead of the marker.", + "avoidance": "Move the right arm to approach and align with the marker instead of the spoon." + }, + { + "sample": "open_box_place_marker_episode_10", + "task_id": "open_box_place_marker", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_10.hdf5", + "verdict": "fail", + "onset": 8.323676, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper approached the marker with its orientation misaligned relative to the marker.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Rotate the right gripper clockwise." + }, + { + "sample": "open_box_place_marker_episode_12", + "task_id": "open_box_place_marker", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_12.hdf5", + "verdict": "fail", + "onset": 8.077417, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper approached the marker, offset significantly forward with its orientation misaligned relative to the marker.\nResult: The right gripper failed to align with and grasp the marker.", + "avoidance": "Move the right gripper significantly backward and rotate it counterclockwise before grasping." + }, + { + "sample": "open_box_place_marker_episode_14", + "task_id": "open_box_place_marker", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/open_box_place_marker/episode_14.hdf5", + "verdict": "fail", + "onset": 9.859184, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right gripper did not open sufficiently to grasp the marker.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Open the right gripper while approaching the marker." + }, + { + "sample": "open_drawer_put_marker_episode_0", + "task_id": "open_drawer_put_marker", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_marker_episode_1", + "task_id": "open_drawer_put_marker", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_marker_episode_2", + "task_id": "open_drawer_put_marker", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_marker_episode_4", + "task_id": "open_drawer_put_marker", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_4.hdf5", + "verdict": "fail", + "onset": 4.946104, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right arm placed the marker on the plate instead of aligning with the open drawer\nResult: the right arm failed to move and place the marker in the open drawer", + "avoidance": "Move the right arm to align with the open drawer instead of the plate." + }, + { + "sample": "open_drawer_put_marker_episode_5", + "task_id": "open_drawer_put_marker", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_5.hdf5", + "verdict": "fail", + "onset": 2.813052, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the marker.\nObservation: The right arm incorrectly targeted and manipulated the blue cube instead of the marker.\nResult: The right arm failed to grasp the red marker.", + "avoidance": "The right arm needs to grasp the red marker." + }, + { + "sample": "open_drawer_put_marker_episode_11", + "task_id": "open_drawer_put_marker", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_11.hdf5", + "verdict": "fail", + "onset": 5.647282, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: The right gripper was positioned slightly backward during insertion, causing a misalignment with the open drawer.\nResult: The gripper released the pen outside the drawer onto the table.", + "avoidance": "Move the right gripper slightly forward." + }, + { + "sample": "open_drawer_put_marker_episode_13", + "task_id": "open_drawer_put_marker", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_13.hdf5", + "verdict": "fail", + "onset": 4.072421, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the marker.\nResult: The right gripper failed to grasp and move the marker.", + "avoidance": "Close the right gripper sufficiently when grasping." + }, + { + "sample": "open_drawer_put_marker_episode_15", + "task_id": "open_drawer_put_marker", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_marker/episode_15.hdf5", + "verdict": "fail", + "onset": 5.112589, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the marker.\nResult: The right gripper failed to grasp and move the marker.", + "avoidance": "Close the right gripper sufficiently to secure the marker." + }, + { + "sample": "open_drawer_put_stapler_episode_0", + "task_id": "open_drawer_put_stapler", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_stapler_episode_1", + "task_id": "open_drawer_put_stapler", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_stapler_episode_2", + "task_id": "open_drawer_put_stapler", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_drawer_put_stapler_episode_3", + "task_id": "open_drawer_put_stapler", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_3.hdf5", + "verdict": "fail", + "onset": 3.299995, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the drawer handle.\nObservation: The left arm erroneously initiated the approach to the drawer handle, instead of the designated right arm.\nResult: The wrong arm was mobilized, leading to an aborted approach and a complete breakdown of the planned sequence.", + "avoidance": "Use the right arm to open the drawer." + }, + { + "sample": "open_drawer_put_stapler_episode_4", + "task_id": "open_drawer_put_stapler", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_4.hdf5", + "verdict": "fail", + "onset": 8.38925, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to align with the stapler.\nObservation: the left gripper grasped the red cube.\nResult: the stapler was not grasped by the left gripper.", + "avoidance": "The left gripper should locate and move to align with the stapler." + }, + { + "sample": "open_drawer_put_stapler_episode_6", + "task_id": "open_drawer_put_stapler", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_6.hdf5", + "verdict": "fail", + "onset": 3.919994, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the drawer handle.\nObservation: the left arm erroneously initiated the approach to the drawer handle, instead of the designated right arm.\nResult: the wrong arm was mobilized", + "avoidance": "using the right arm instead of the left arm" + }, + { + "sample": "open_drawer_put_stapler_episode_12", + "task_id": "open_drawer_put_stapler", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_12.hdf5", + "verdict": "fail", + "onset": 11.366299, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to align with the stapler.\nObservation: the left gripper approached the stapler slightly upward and with its orientation misaligned relative to the stapler.\nResult: the left gripper failed to pick up the stapler.", + "avoidance": "Rotate the left gripper counterclockwise by 90 degrees, and move it slightly downward." + }, + { + "sample": "open_drawer_put_stapler_episode_13", + "task_id": "open_drawer_put_stapler", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_13.hdf5", + "verdict": "fail", + "onset": 5.212589, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the drawer handle with the right arm.\nObservation: The right gripper failed to close with sufficient force to grasp the drawer handle\nResult: The gripper fails to pull the drawer", + "avoidance": "The gripper should close more tightly around the drawer handle before pulling." + }, + { + "sample": "open_drawer_put_stapler_episode_15", + "task_id": "open_drawer_put_stapler", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/open_drawer_put_stapler/episode_15.hdf5", + "verdict": "fail", + "onset": 15.8680515, + "type": [ + "open_error" + ], + "reason": "Expected: Release the stapler into the open drawer.\nObservation: the left gripper hovers above the drawer without releasing the stapler.\nResult: the left gripper failed to release the stapler into the open drawer.", + "avoidance": "Release the left arm into the open drawer after alignment." + }, + { + "sample": "open_left_right_door_episode_1", + "task_id": "open_left_right_door", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_left_right_door_episode_7", + "task_id": "open_left_right_door", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_7.hdf5", + "verdict": "fail", + "onset": 2.989473, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: The left gripper approached the left door handle with its orientation misaligned relative to the left door handle.\nResult: The left gripper failed to grasp the door handle.", + "avoidance": "Rotate the left gripper counterclockwise." + }, + { + "sample": "open_left_right_door_episode_8", + "task_id": "open_left_right_door", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_8.hdf5", + "verdict": "fail", + "onset": 4.517266, + "type": [ + "closing_error" + ], + "reason": "Expected: Open the left door.\nObservation: The left gripper failed to maintain a secure grasp on the left door handle during the pull motion, causing it to slip off.\nResult: The door did not open.", + "avoidance": "Close the gripper more tightly during the pull motion" + }, + { + "sample": "open_left_right_door_episode_15", + "task_id": "open_left_right_door", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_15.hdf5", + "verdict": "fail", + "onset": 7.661462, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the right door handle.\nObservation: the right gripper approached the right door handle with its orientation misaligned relative to the right door handle,\nResult: the gripper failed to engage the handle, leaving the right door closed.", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "open_left_right_door_episode_16", + "task_id": "open_left_right_door", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_16.hdf5", + "verdict": "fail", + "onset": 10.910982, + "type": [ + "closing_error" + ], + "reason": "Expected: Open the right door.\nObservation: The right gripper released the right door handle early.\nResult: The right gripper failed to open the right door.", + "avoidance": "The right gripper keeps holding the right door while opening." + }, + { + "sample": "open_left_right_door_episode_17", + "task_id": "open_left_right_door", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_17.hdf5", + "verdict": "fail", + "onset": 1.832937, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: the right gripper instead of the left gripper was used approach the left door handle during the subtask for the left arm.\nResult: The task plan is violated", + "avoidance": "Move the left gripper during the approach phase" + }, + { + "sample": "open_left_right_door_episode_18", + "task_id": "open_left_right_door", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/open_left_right_door/episode_18.hdf5", + "verdict": "fail", + "onset": 2.205894, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to approach and align with the left door handle.\nObservation: The right gripper opened the right door while the left door was still not opened as the left gripper was still.\nResult: The left door was not opened by the left arm.", + "avoidance": "Move the left arm to approach and align with the left door handle first." + }, + { + "sample": "open_lid_place_filter_episode_0", + "task_id": "open_lid_place_filter", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_place_filter_episode_1", + "task_id": "open_lid_place_filter", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_place_filter_episode_2", + "task_id": "open_lid_place_filter", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_place_filter_episode_4", + "task_id": "open_lid_place_filter", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_4.hdf5", + "verdict": "fail", + "onset": 6.012468, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the filter.\nObservation: he left arm erroneously initiated the approach to the filter, instead of the designated right arm. \nResult: the wrong arm was mobilized, violating the task sequence", + "avoidance": "Move the right arm instead of the left to align with the filter." + }, + { + "sample": "open_lid_place_filter_episode_5", + "task_id": "open_lid_place_filter", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_5.hdf5", + "verdict": "fail", + "onset": 2.646735, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to align with the rice cooker lid.\nObservation: The right arm erroneously initiated the approach to and attempted to open the rice cooker lid, instead of the designated left arm.\nResult: The left gripper failed to open the rice cooker lid.", + "avoidance": "Move the left arm instead of the right to align with the rice cooker lid." + }, + { + "sample": "open_lid_place_filter_episode_6", + "task_id": "open_lid_place_filter", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_6.hdf5", + "verdict": "fail", + "onset": 4.491955, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the filter.\nObservation: The right gripper and manipulated the Coca-Cola bottle instead of the filter in the alignment phase.\nResult: The filter was not grasped.", + "avoidance": "Move the gripper to align with the filter instead of the coca-cola bottle" + }, + { + "sample": "open_lid_place_filter_episode_12", + "task_id": "open_lid_place_filter", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_12.hdf5", + "verdict": "fail", + "onset": 7.05621, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the filter.\nObservation: The right gripper approached with its orientation misaligned relative to the filter.\nResult: The right gripper failed to grasp the filter.", + "avoidance": "Rotate the right gripper counterclockwise." + }, + { + "sample": "open_lid_place_filter_episode_14", + "task_id": "open_lid_place_filter", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_14.hdf5", + "verdict": "fail", + "onset": 8.33324, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the open rice cooker.\nObservation: the right gripper accidentally opened (released its grip) after grasping the filter and while moving it toward the rice cooker.\nResult: the arm continued its path but the object was filter was dropped", + "avoidance": "Close the right gripper tightly during alignment phase" + }, + { + "sample": "open_lid_place_filter_episode_15", + "task_id": "open_lid_place_filter", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/open_lid_place_filter/episode_15.hdf5", + "verdict": "fail", + "onset": 7.971052, + "type": [ + "open_error" + ], + "reason": "Expected: Release the filter from the right arm.\nObservation: The right gripper failed to open and release the filter while positioned over the rice cooker.\nResult: The right gripper failed to open and release the filter.", + "avoidance": "Open the right gripper to release the filter." + }, + { + "sample": "open_lid_put_spoon_episode_1", + "task_id": "open_lid_put_spoon", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_episode_4", + "task_id": "open_lid_put_spoon", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_4.hdf5", + "verdict": "fail", + "onset": 8.247671, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the open rice cooker.\nObservation: The left gripper did not hold the spoon firmly, causing it to slip and fall midway.\nResult: The left gripper failed to hold and place the spoon into the rice cooker.", + "avoidance": "Close the left gripper while moving." + }, + { + "sample": "open_lid_put_spoon_episode_5", + "task_id": "open_lid_put_spoon", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_5.hdf5", + "verdict": "fail", + "onset": 6.392055, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon, causing a misalignment during grasping\nResult: the gripper failed to secure the spoon, leading to task abortion", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "open_lid_put_spoon_episode_6", + "task_id": "open_lid_put_spoon", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_6.hdf5", + "verdict": "fail", + "onset": 7.382421, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: the left gripper failed to grasp the white spoon.", + "avoidance": "Rotate the left gripper clockwise to align with the spoon handle." + }, + { + "sample": "open_lid_put_spoon_episode_8", + "task_id": "open_lid_put_spoon", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_8.hdf5", + "verdict": "fail", + "onset": 2.479156, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to open the rice cooker lid first, instead of the right arm as planned.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to open the rice cooker lid.", + "avoidance": "Needs to use the right gripper to open the rice cooker lid." + }, + { + "sample": "open_lid_put_spoon_episode_9", + "task_id": "open_lid_put_spoon", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_9.hdf5", + "verdict": "fail", + "onset": 9.242315, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The left gripper approached the spoon with its orientation misaligned relative to the spoon.\nResult: The left gripper failed to grasp the spoon.", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "open_lid_put_spoon_episode_11", + "task_id": "open_lid_put_spoon", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_11.hdf5", + "verdict": "fail", + "onset": 6.70821, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The left gripper approached the spoon, offset slightly to the left.\nResult: The left gripper failed to grasp the spoon.", + "avoidance": "Move the left gripper slightly to the right before grasping." + }, + { + "sample": "open_lid_put_spoon_episode_13", + "task_id": "open_lid_put_spoon", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon/episode_13.hdf5", + "verdict": "fail", + "onset": 9.710101, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: the left gripper approached the spoon with its orientation misaligned relative to the spoon during the approach to the spoon.\nResult: the left gripper failed to pick up the white spoon.", + "avoidance": "Rotate the left gripper clockwise slightly." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_0", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_1", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_2", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_3", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_4", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_5", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_6", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_7", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_8", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_9", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_10", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_11", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_12", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_13", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_14", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_15", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_16", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_17", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_18", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_19", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_20", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_21", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_22", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_23", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_24", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "open_lid_put_spoon_ep2_episode_36", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_36.hdf5", + "verdict": "fail", + "onset": 9, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The human hand occluded the spoon, which prevented the left gripper from grasping it.\nResult: The left gripper failed to grasp the spoon.", + "avoidance": "This is unavoidable; the spoon has been occluded." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_37", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_37", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_37.hdf5", + "verdict": "fail", + "onset": 10.12, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to align with the white spoon.\nObservation: The spoon has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the spoon.", + "avoidance": "This is unavoidable; the target object has been taken away by a human." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_38", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_38", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_38.hdf5", + "verdict": "fail", + "onset": 3.36, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker lid bottom is occluded by a human hand, which prevents the right gripper from pressing it.\nResult: The right gripper failed to open the rice cooker lid.", + "avoidance": "This is unavoidable; the rice cooker lid bottom is occluded by a human hand." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_39", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_39", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_39.hdf5", + "verdict": "fail", + "onset": 3.64, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker lid bottom is occluded by a human hand, which prevents the right gripper from pressing it.\nResult: The right gripper failed to open the rice cooker lid.", + "avoidance": "This is unavoidable; the rice cooker lid bottom is occluded by a human hand." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_40", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_40", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_40.hdf5", + "verdict": "fail", + "onset": 4.08, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The rice cooker has been taken away by a human, which prevents the right gripper from approaching it.\nResult: The right gripper failed to open the rice cooker lid.", + "avoidance": "This is unavoidable; the rice cooker has been taken away by a human." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_42", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_42", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_42.hdf5", + "verdict": "fail", + "onset": 11.44, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to align with the open rice cooker.\nObservation: The human hand with the plate occluded the pot, which prevented the left gripper from placing the white spoon into it.\nResult: The left gripper failed to put the white spoon in the rice cooker.", + "avoidance": "This is unavoidable; the pot has been occluded by a human." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_45", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_45", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_45.hdf5", + "verdict": "fail", + "onset": 2.524263, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The right gripper is still and didn't open the rice cooker lid, while the left gripper moved the spoon to the closed rice cooker.\nResult: The right arm failed to approach and press the lid's button.", + "avoidance": "Use the right arm to open the rice cooker lid first, then pick up the spoon with the left arm." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_46", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_46", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_46.hdf5", + "verdict": "fail", + "onset": 1.728157, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the required execution order.\nResult: The right arm failed to align with and press the rice cooker lid's button.", + "avoidance": "Move the right arm to align with the rice cooker lid's button first." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_47", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_47", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_47.hdf5", + "verdict": "fail", + "onset": 2.512894, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: the right gripper is idle, and the left gripper moved to the spoon and placed it on top of the closed rice cooker.\nResult: the right gripper failed to open the rice cooker, and the spoon was placed on the closed lid.", + "avoidance": "Move the right arm to align with the rice cooker lid's button first." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_48", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_48", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_48.hdf5", + "verdict": "fail", + "onset": 2.151393, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the required execution order.\nResult: The spoon was placed on the closed lid, causing a misplacement.", + "avoidance": "Move the right arm to align with the rice cooker lid's button first." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_49", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_49", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_49.hdf5", + "verdict": "fail", + "onset": 4.284579, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: the left gripper attempted to place the spoon into the rice cooker before the right gripper opened the lid, violating the task plan\nResult: The task plan is violated and the white spoon could not be placed into the rice cooker", + "avoidance": "Move the right arm to align with the rice cooker lid's button to open the lid first." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_50", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_50", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_50.hdf5", + "verdict": "fail", + "onset": 1.672981, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper pressed the button to open the rice cooker lid, while the right arm was still.\nResult: The right arm failed to open the rice cooker lid's button.", + "avoidance": "Move the right arm instead of the left to align with the rice cooker lid's button." + }, + { + "sample": "open_lid_put_spoon_ep2_episode_51", + "task_id": "open_lid_put_spoon_ep2", + "episode": "episode_51", + "robot": "agilex", + "hdf5": "episodes/open_lid_put_spoon_ep2/episode_51.hdf5", + "verdict": "fail", + "onset": 2.331365, + "type": [ + "wrong_sequence", + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the rice cooker lid's buttom.\nObservation: The left gripper was used to align with the rice cooker's lid instead of the right arm as designated in the plan\nResult: The task execution plan is violated", + "avoidance": "Move the right arm to align with the rice cooker lid's button to open the lid." + }, + { + "sample": "open_microwave_door_put_bowl_episode_0", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_microwave_door_put_bowl_episode_3", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_3.hdf5", + "verdict": "fail", + "onset": 2.618, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the microwave oven door.\nObservation: the left gripper approached the microwave door handle offset significantly to the right during approach, causing a failed grasp attempt. \nResult: the left gripper failed to grasp the handle.", + "avoidance": "Move the left gripper significantly to the left during alignment with the handle." + }, + { + "sample": "open_microwave_door_put_bowl_episode_5", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_5.hdf5", + "verdict": "fail", + "onset": 6.865261, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the blue bowl with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the blue bowl, causing it to fail to pick up.\nResult: The gripper failed to pick up the bowl and place it inside the microwave.", + "avoidance": "Close the right gripper tightly to secure the blue bowl when grasping." + }, + { + "sample": "open_microwave_door_put_bowl_episode_7", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_7.hdf5", + "verdict": "fail", + "onset": 7.797947, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right gripper incorrectly targeted the pink bowl instead of the blue bowl.\nResult: The right gripper failed to grasp the blue bowl.", + "avoidance": "Move the right arm to align with the blue bowl instead of the pink bowl." + }, + { + "sample": "open_microwave_door_put_bowl_episode_8", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_8.hdf5", + "verdict": "fail", + "onset": 8.299098, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: The right gripper approached the blue bowl with its orientation misaligned relative to the blue bowl, causing a collision with the bowl edge.\nResult: The right gripper failed to grasp the blue bowl edge.", + "avoidance": "Rotate the right gripper clockwise." + }, + { + "sample": "open_microwave_door_put_bowl_episode_10", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_10.hdf5", + "verdict": "fail", + "onset": 7.658703, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the inside of the microwave oven.\nObservation: the right gripper failed to close and grasp the blue bowl during the alignment phase with the oven.\nResult: the bowl was dropped and not moved into the microwave.", + "avoidance": "Close the right gripper tightly" + }, + { + "sample": "open_microwave_door_put_bowl_episode_11", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_11.hdf5", + "verdict": "fail", + "onset": 7.430289, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: right gripper approached the blue bowl with its orientation misaligned relative to the blue bowl, causing a misalignment during grasp\nResult: the bowl was not picked up", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "open_microwave_door_put_bowl_episode_14", + "task_id": "open_microwave_door_put_bowl", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_bowl/episode_14.hdf5", + "verdict": "fail", + "onset": 2.779, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the microwave oven door.\nObservation: The left gripper approached the microwave door handle, offset significantly downward.\nResult: The left gripper failed to grasp the microwave door handle.", + "avoidance": "Move the left gripper significantly upward." + }, + { + "sample": "open_microwave_door_put_green_duck_episode_0", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "open_microwave_door_put_green_duck_episode_1", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "open_microwave_door_put_green_duck_episode_2", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "open_microwave_door_put_green_duck_episode_3", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_3.hdf5", + "verdict": "fail", + "onset": 15.722752, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open microwave oven.\nObservation: The right gripper placed the green duck on the plate instead of inside the microwave.\nResult: The right gripper failed to put the green duck into the microwave oven.", + "avoidance": "Move the right arm to align with the open microwave oven instead of the plate." + }, + { + "sample": "open_microwave_door_put_green_duck_episode_5", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_5.hdf5", + "verdict": "fail", + "onset": 4.349296, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the microwave oven\nObservation: the right gripper placed the green duck on the saucer instead of inside the microwave during the alignment subtask. \nResult: the object was mispositioned and the microwave remained empty.", + "avoidance": "Move the right arm to align with the microwave oven instead of the saucer." + }, + { + "sample": "open_microwave_door_put_green_duck_episode_6", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_6.hdf5", + "verdict": "fail", + "onset": 11.511654, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to grasp the green duck.\nObservation: The right gripper incorrectly targeted the marker instead of the green duck.\nResult: The right gripper failed to grasp the correct target, the green duck.", + "avoidance": "Move the right arm to grasp the green duck instead of the marker." + }, + { + "sample": "open_microwave_door_put_green_duck_episode_13", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_13.hdf5", + "verdict": "fail", + "onset": 3.847789, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to grasp the green duck.\nObservation: The right gripper failed to close sufficiently to grasp the green duck.\nResult: The right gripper failed to grasp the green duck.", + "avoidance": "Close the right gripper sufficiently to secure the duck." + }, + { + "sample": "open_microwave_door_put_green_duck_episode_14", + "task_id": "open_microwave_door_put_green_duck", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/open_microwave_door_put_green_duck/episode_14.hdf5", + "verdict": "fail", + "onset": 4.902157, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the open microwave oven.\nObservation: the right gripper released and slipped the green duck when moving it to the microwave oven\nResult: the right arm failed to move the green duck to the microwave oven", + "avoidance": "Close the right gripper tightly while moving." + }, + { + "sample": "pick_ball_put_drawer_episode_0", + "task_id": "pick_ball_put_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_ball_put_drawer_episode_1", + "task_id": "pick_ball_put_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_ball_put_drawer_episode_2", + "task_id": "pick_ball_put_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_ball_put_drawer_episode_4", + "task_id": "pick_ball_put_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_4.hdf5", + "verdict": "fail", + "onset": 6.4031, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right gripper mis-placed the ball into the mug instead of the open drawer during the alignment subtask.\nResult: the right gripper failed to approach and place the table tennis ball in open drawer", + "avoidance": "Move the right arm to align with the open drawer instead of the cup." + }, + { + "sample": "pick_ball_put_drawer_episode_5", + "task_id": "pick_ball_put_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 5.45921, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: The right gripper released the tennis ball into the mug instead of the open drawer.\nResult: The right gripper failed to place the tennis ball into the open drawer.", + "avoidance": "Move the right arm to align with the open drawer instead of the cup." + }, + { + "sample": "pick_ball_put_drawer_episode_6", + "task_id": "pick_ball_put_drawer", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_6.hdf5", + "verdict": "fail", + "onset": 2.481048, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the table tennis ball.\nObservation: the right gripper incorrectly selected and grasped the blue cube instead of the table tennis ball during the approach phase\nResult: the ball remained untouched on the table while the cube was placed in the drawer.", + "avoidance": "Move the right arm to approach and align with the table tennis ball instead of the blue blocks." + }, + { + "sample": "pick_ball_put_drawer_episode_14", + "task_id": "pick_ball_put_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 5.198234, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the table tennis ball.\nObservation: the right gripper failed to close sufficiently to grasp the table tennis ball \nResult: the ball was not secured and remained on the table,", + "avoidance": "Close the right gripper tightly" + }, + { + "sample": "pick_ball_put_drawer_episode_15", + "task_id": "pick_ball_put_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_ball_put_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 5.616526, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the open drawer.\nObservation: the right gripper released and slipped the tennis ball while moving to the open drawer.\nResult: the right arm failed to move the tennis ball to the open drawer.", + "avoidance": "Close the right gripper tightly while moving" + }, + { + "sample": "pick_block_drawer_to_plate_episode_0", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_block_drawer_to_plate_episode_7", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_7.hdf5", + "verdict": "fail", + "onset": 8.223138, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to align with the plate.\nObservation: The right gripper was positioned slightly forward.\nResult: The right gripper failed to place the purple cube on the plate.", + "avoidance": "Move the right gripper slightly backward before releasing." + }, + { + "sample": "pick_block_drawer_to_plate_episode_13", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_13.hdf5", + "verdict": "fail", + "onset": 4.934263, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the purple block.\nObservation: The right gripper failed to close sufficiently to grasp the purple block.\nResult: The right gripper failed to grasp the purple block.", + "avoidance": "Close the right gripper tightly to secure the purple block." + }, + { + "sample": "pick_block_drawer_to_plate_episode_15", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_block_drawer_to_plate_episode_24", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_24.hdf5", + "verdict": "fail", + "onset": 4.202314, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to approach and grasp the purple block inside the drawer.\nObservation: the right gripper failed to close sufficiently and grasp the purple block\nResult: the right gripper failed to lift the purple block", + "avoidance": "Close the right gripper sufficiently before lifting." + }, + { + "sample": "pick_block_drawer_to_plate_episode_28", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_28.hdf5", + "verdict": "fail", + "onset": 7.619531, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to align with the plate.\nObservation: the right gripper approached the plate offset significantly backward during the approach to the plate, causing the purple block to be dropped beside it instead of placed inside.\nResult: the block is now on the table, invalidating the placement goal.", + "avoidance": "Move the right gripper to the forward significantly." + }, + { + "sample": "pick_block_drawer_to_plate_episode_29", + "task_id": "pick_block_drawer_to_plate", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/pick_block_drawer_to_plate/episode_29.hdf5", + "verdict": "fail", + "onset": 7.022315, + "type": [ + "translation_error", + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the plate.\nObservation: The right gripper dropped the purple cubes to a place where it is deviate slightly forward ot target plate.\nResult: The right gripper failed to place the purple cubes inside the plate.", + "avoidance": "Move the right gripper slightly backward." + }, + { + "sample": "pick_bowl_cube_episode_0", + "task_id": "pick_bowl_cube", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_episode_3", + "task_id": "pick_bowl_cube", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_3.hdf5", + "verdict": "fail", + "onset": 3.134735, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl.\nResult: The left gripper failed to grasp the pink bowl.", + "avoidance": "Rotate the left gripper clockwise before grasping." + }, + { + "sample": "pick_bowl_cube_episode_4", + "task_id": "pick_bowl_cube", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_4.hdf5", + "verdict": "fail", + "onset": 3.572234, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the pink bowl with the left arm.\nObservation: the left gripper failed to close sufficiently to secure the pink bowl\nResult: the left gripper failed to grasp the pink bowl", + "avoidance": "Close the left gripper sufficiently to grasp the bowl." + }, + { + "sample": "pick_bowl_cube_episode_8", + "task_id": "pick_bowl_cube", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_8.hdf5", + "verdict": "fail", + "onset": 7.383503, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the yellow cube.\nObservation: he right gripper approached the yellow cube offset slightly to the left, misaligning its grasp axis\nResult: the gripper failed to engage the cube properly, preventing pickup.", + "avoidance": "Move the right gripper to the right slightly." + }, + { + "sample": "pick_bowl_cube_episode_10", + "task_id": "pick_bowl_cube", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_10.hdf5", + "verdict": "fail", + "onset": 6.310105, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the yellow cube with the right arm.\nObservation: The right gripper failed to close sufficiently to grasp the yellow cube.\nResult: The right gripper failed to grasp the yellow cube.", + "avoidance": "Close the right gripper sufficiently to secure the yellow cube." + }, + { + "sample": "pick_bowl_cube_episode_11", + "task_id": "pick_bowl_cube", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_11.hdf5", + "verdict": "fail", + "onset": 1.635842, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The right gripper prematurely grasped the yellow cube before the left gripper had repositioned the pink bowl to the center.\nResult: The cube was placed in a misaligned bowl, compromising task accuracy.", + "avoidance": "needs to use the left gripper to place the pink bowl in the center and then use the right gripper to place the yellow cube into the pink bowl" + }, + { + "sample": "pick_bowl_cube_episode_12", + "task_id": "pick_bowl_cube", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_12.hdf5", + "verdict": "fail", + "onset": 2.086736, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: the left gripper's orientation was misaligned relative to the pink bowl rim, causing it to collide with the rim.\nResult: the left gripper failed to grasp the pink bowl.", + "avoidance": "Rotate the left gripper clockwise to align the bowl rim." + }, + { + "sample": "pick_bowl_cube_episode_14", + "task_id": "pick_bowl_cube", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube/episode_14.hdf5", + "verdict": "fail", + "onset": 6.526565, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the yellow cube.\nObservation: the right gripper approached the yellow cube offset slightly to the right and slightly forward, causing misalignment during the grasp attempt.\nResult: the gripper failed to securely engage the object", + "avoidance": "Move the right gripper to the left and backward slightly" + }, + { + "sample": "pick_bowl_cube_ep2_episode_0", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_1", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_2", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_3", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_4", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_5", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_6", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_7", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_8", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_9", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_10", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_11", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_12", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_13", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_14", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_15", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_16", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_17", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_18", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_19", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_20", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_21", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_22", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_23", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_24", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_cube_ep2_episode_26", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_26", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_26.hdf5", + "verdict": "fail", + "onset": 5.079684, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper incorrectly prioritized the yellow cube before the left gripper positioned the pink bowl\nResult: the left arm did not move, the cube was placed in an unprepared location", + "avoidance": "Move the left arm to grasp the pink bowl." + }, + { + "sample": "pick_bowl_cube_ep2_episode_36", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_36.hdf5", + "verdict": "fail", + "onset": 4.68, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The pink bowl has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the pink bowl.", + "avoidance": "This is unavoidable; the pink bowl has been taken away by a human." + }, + { + "sample": "pick_bowl_cube_ep2_episode_37", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_37", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_37.hdf5", + "verdict": "fail", + "onset": 4.64, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The pink bowl is occluded by human hands, which prevents the left gripper from grasping it.\nResult: The right gripper failed to grasp the pink bowl.", + "avoidance": "This is unavoidable; the pink bowl is occluded by human hands." + }, + { + "sample": "pick_bowl_cube_ep2_episode_38", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_38", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_38.hdf5", + "verdict": "fail", + "onset": 9.76, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: the yellow cube has been occluded by a human hand, which prevented the right gripper from grasping it\nResult: the right gripper failed to grasp the yellow cube", + "avoidance": "This is unavoidable; the yellow cube has been occluded." + }, + { + "sample": "pick_bowl_cube_ep2_episode_39", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_39", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_39.hdf5", + "verdict": "fail", + "onset": 10, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: The yellow cube has been taken away by a human, which prevents the right gripper from grasping it.\nResult: The right gripper failed to grasp the yellow cube.", + "avoidance": "This is unavoidable; the yellow cube has been taken away by a human." + }, + { + "sample": "pick_bowl_cube_ep2_episode_40", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_40", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_40.hdf5", + "verdict": "fail", + "onset": 10.44, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the yellow cube.\nObservation: The yellow cube has been taken away by a human, which prevents the right gripper from aligning with it.\nResult: The right gripper failed to grasp the yellow cube.", + "avoidance": "This is unavoidable; the yellow cube has been taken away by a human." + }, + { + "sample": "pick_bowl_cube_ep2_episode_41", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_41", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_41.hdf5", + "verdict": "fail", + "onset": 12.84, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The pink bowl is occluded by human hands, which prevents the right gripper from placing the yellow cube into it.\nResult: The right gripper failed to place the yellow cube into the pink bowl.", + "avoidance": "This is unavoidable; the pink bowl is occluded by human hands." + }, + { + "sample": "pick_bowl_cube_ep2_episode_42", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_42", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_42.hdf5", + "verdict": "fail", + "onset": 11.92, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Place the yellow cube into the pink bowl.\nObservation: The pink bowl was flipped over, causing the opening to face downward, so the right gripper could not place the yellow cube inside.\nResult: The right gripper failed to place the yellow cube into the pink bowl.", + "avoidance": "This is unavoidable; The pink bowl was flipped over, causing the opening to face downward" + }, + { + "sample": "pick_bowl_cube_ep2_episode_43", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_43", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_43.hdf5", + "verdict": "fail", + "onset": 11.6, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: the pink bowl has been taken away by a human, which prevents the right gripper from placing the yellow cube into it.\nResult: the right gripper failed to place the yellow cube into the pink bowl.", + "avoidance": "This is unavoidable; the pink bowl has been taken away by a human." + }, + { + "sample": "pick_bowl_cube_ep2_episode_44", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_44", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_44.hdf5", + "verdict": "fail", + "onset": 12.84, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The pink bowl is occluded by a green plate, which prevents the right gripper from placing the yellow cubes into it.\nResult: The right gripper failed to place the yellow cubes into the pink bowl.", + "avoidance": "This is unavoidable; the pink bowl is occluded by a green plate." + }, + { + "sample": "pick_bowl_cube_ep2_episode_45", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_45", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_45.hdf5", + "verdict": "fail", + "onset": 1.973945, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper prematurely moved the yellow cube toward the bowl before the left gripper had repositioned it to the table's center.\nResult: The cube was placed in a misaligned bowl, compromising task accuracy.", + "avoidance": "The left gripper places the pink bowl in the center first, and then the right gripper places the yellow cube into the pink bowl." + }, + { + "sample": "pick_bowl_cube_ep2_episode_46", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_46", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_46.hdf5", + "verdict": "fail", + "onset": 2.345339, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper prematurely grasped the yellow cube before the left gripper positioned the pink bowl at the center\nResult: the left gripper failed to position and grasp the pink bowl at the center", + "avoidance": "Move the left arm to align with the pink bowl first." + }, + { + "sample": "pick_bowl_cube_ep2_episode_47", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_47", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_47.hdf5", + "verdict": "fail", + "onset": 2.116052, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper prematurely grasped the yellow cube before the left gripper positioned the pink bowl at the center, violating the execution order.\nResult: The left gripper failed to approach and grab the pink bowl to the center.", + "avoidance": "Move the left arm to align with the pink bowl first." + }, + { + "sample": "pick_bowl_cube_ep2_episode_48", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_48", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_48.hdf5", + "verdict": "fail", + "onset": 2.375282, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: the right gripper was used to pick up the yellow cube before the left gripper moved the pink bowl to the center, violating the execution ord\nResult: the cube was placed in the bowl while it was still off-center", + "avoidance": "Move the left arm to align with the pink bowl first." + }, + { + "sample": "pick_bowl_cube_ep2_episode_49", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_49", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_49.hdf5", + "verdict": "fail", + "onset": 2.258105, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the pink bowl.\nObservation: The right gripper was used to pick up the yellow cube before the left gripper moved the pink bowl to the center, violating the execution order.\nResult: The left gripper failed to approach and grasp the pink bowl.", + "avoidance": "Move the left arm to align with the pink bowl first." + }, + { + "sample": "pick_bowl_cube_ep2_episode_73", + "task_id": "pick_bowl_cube_ep2", + "episode": "episode_73", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_cube_ep2/episode_73.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_on_top_shelf_episode_2", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_2.hdf5", + "verdict": "fail", + "onset": 6.182473, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the top shelf.\nObservation: The left gripper placed the pink bowl on the second shelf instead of the top shelf.\nResult: The left gripper failed to place the pink bowl on the top shelf.", + "avoidance": "The left gripper needs to place the pink bowl on the top shelf." + }, + { + "sample": "pick_bowl_on_top_shelf_episode_3", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_3.hdf5", + "verdict": "fail", + "onset": 3.218648, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the pink bowl.\nObservation: the left gripper failed to close sufficiently to grasp the pink bowl \nResult: the bowl remained on the table and the robot could not proceed to align it with the top shelf", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "pick_bowl_on_top_shelf_episode_4", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_4.hdf5", + "verdict": "fail", + "onset": 3.202525, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl.\nResult: The left gripper failed to grasp the pink bowl.", + "avoidance": "Rotate the left gripper counterclockwise before grasping." + }, + { + "sample": "pick_bowl_on_top_shelf_episode_5", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_5.hdf5", + "verdict": "fail", + "onset": 3.799871, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The task failed because the left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl edge, causing a misalignment during grasp.\nResult: the gripper failed to secure the bowl, leading to task abortion.", + "avoidance": "Rotate the gripper clockwise to align with the pink bowl." + }, + { + "sample": "pick_bowl_on_top_shelf_episode_6", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_6.hdf5", + "verdict": "fail", + "onset": 4.012706, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The left gripper incorrectly selected and moved the blue bowl instead of the pink bowl.\nResult: The left arm failed to grasp the pink bowl.", + "avoidance": "Move the left arm to approach and align the pink bowl instead of the blue one." + }, + { + "sample": "pick_bowl_on_top_shelf_episode_7", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_7.hdf5", + "verdict": "fail", + "onset": 4.5438095, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the top shelf.\nObservation: the left gripper failed to close sufficiently when grasping the pink bowl during alignment with the top shelf \nResult: The bowl is dropped onto the table, halting subsequent subtasks", + "avoidance": "close the left gripper tightly" + }, + { + "sample": "pick_bowl_on_top_shelf_episode_8", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_on_top_shelf_episode_9", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_9.hdf5", + "verdict": "fail", + "onset": 5.527613, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: the left gripper approached the pink bowl with its orientation misaligned relative to the pink bowl\nResult: the gripper failed to grasp the pink bowl.", + "avoidance": "Rotate the left gripper clockwise." + }, + { + "sample": "pick_bowl_on_top_shelf_episode_12", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_bowl_on_top_shelf_episode_13", + "task_id": "pick_bowl_on_top_shelf", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_bowl_on_top_shelf/episode_13.hdf5", + "verdict": "fail", + "onset": 3.787576, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the pink bowl.\nObservation: The right gripper was incorrectly used instead of the left gripper to approach the pink bowl.\nResult: Used the wrong gripper; used the right gripper, not the left gripper, to grasp the pink bowl.", + "avoidance": "needs to use the left gripper to grasp the pink bowl" + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_25", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_25", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_25.hdf5", + "verdict": "fail", + "onset": 2.391145, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the Coke bottle.\nResult: Used the right arm, not the left arm, to grasp the Coke bottle.", + "avoidance": "Use the left arm to grasp the Coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_26", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_26", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_26.hdf5", + "verdict": "fail", + "onset": 2.782894, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right gripper approached to grasp the Coke instead of the left gripper.\nResult: The left gripper did not grasp the Coke, and the task plan is vioalted.", + "avoidance": "The left gripper should move to approach and align with the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_27", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_27", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_27.hdf5", + "verdict": "fail", + "onset": 2.963947, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm to perform this action.\nResult: The left gripper failed to approach and grasp the coke bottle.", + "avoidance": "Move the left arm instead of the right to approach and align the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_28", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_28.hdf5", + "verdict": "fail", + "onset": 2.810731, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle.\nResult: Using the right arm instead of the left arm to grasp the coke bottle led to the task failing.", + "avoidance": "Use the left arm to grasp the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_29", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_29.hdf5", + "verdict": "fail", + "onset": 3.298455, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right gripper is first aligned with the Coke bottle.\nResult: The Coke bottle was not grasped by the left gripper.", + "avoidance": "The left gripper should be used to align with and grasp the Coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_30", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_30.hdf5", + "verdict": "fail", + "onset": 2.89, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, instead of the planned left arm.\nResult: The left arm failed to approach and move to the coke bottle.", + "avoidance": "Move the left arm instead of the right to approach and align the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_31", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_31", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_31.hdf5", + "verdict": "fail", + "onset": 2.468947, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: the right arm was incorrectly used to manipulate the coke bottle\nResult: used the wrong arm to pick up the coke bottle", + "avoidance": "Use the left arm to pick up the Coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_32", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_32", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_32.hdf5", + "verdict": "fail", + "onset": 2.362526, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, instead of the planned left arm.\nResult: The left arm failed to approach and grasp the coke bottle.", + "avoidance": "Move the left arm instead of the right arm to approach and align the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_33", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_33", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_33.hdf5", + "verdict": "fail", + "onset": 2.529684, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm to perform this action.\nResult: The left gripper failed to grasp the coke bottle.", + "avoidance": "Move the left arm instead of the right to approach and align the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_34", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_34", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_34.hdf5", + "verdict": "fail", + "onset": 2.768275, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: the right arm was incorrectly used to approach the coke bottle instead of the designated left arm\nResult: This violates the task plan", + "avoidance": "Move the left arm instead of the right to approach and align the coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_35", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_35", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_35.hdf5", + "verdict": "fail", + "onset": 1.857891, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the coke bottle, even though the task plan required the left arm.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the coke bottle.", + "avoidance": "Needs to use the left arm to grasp the Coke bottle." + }, + { + "sample": "pick_coke_bottle_place_plate_ep1_episode_36", + "task_id": "pick_coke_bottle_place_plate_ep1", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/pick_coke_bottle_place_plate_ep1/episode_36.hdf5", + "verdict": "fail", + "onset": 3.074631, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the coke bottle.\nObservation: The right arm was incorrectly used to manipulate the Coke bottle, even though the task plan required the left arm.\nResult: Used the wrong arm; used the right arm, not the left arm, to grasp the Coke bottle.", + "avoidance": "Needs to move the left arm to grasp the Coke bottle." + }, + { + "sample": "pick_cube_drawer_plate_episode_0", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_drawer_plate_episode_1", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_drawer_plate_episode_2", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_drawer_plate_episode_3", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_3.hdf5", + "verdict": "fail", + "onset": 2.1696, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The left gripper incorrectly targeted and retrieved a red cube from the bowl instead of the pink cube from the drawer during alignment.\nResult: The wrong object was grasped.", + "avoidance": "Move the left arm to align with the pink cube in the drawer, not the red cube in the bowl." + }, + { + "sample": "pick_cube_drawer_plate_episode_4", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_4.hdf5", + "verdict": "fail", + "onset": 1.955827, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The right gripper moves to align with the pink cube from the drawer\nResult: The wrong arm executed the action, leading to incorrect object handling.", + "avoidance": "Move the left arm instead of the right arm" + }, + { + "sample": "pick_cube_drawer_plate_episode_5", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_5.hdf5", + "verdict": "fail", + "onset": 3.896, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper incorrectly placed the pink cube into the bowl instead of onto the plate.\nResult: The target object was mispositioned on the blue bowl instead of the blue plate.", + "avoidance": "Move the left arm to the blue plate." + }, + { + "sample": "pick_cube_drawer_plate_episode_6", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_6.hdf5", + "verdict": "fail", + "onset": 1.607999, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to align with the pink cube in the drawer.\nObservation: The right gripper, instead of the assigned left gripper, moves to pick up the pink cube and places it in the blue bowl.\nResult: the task plan is violated", + "avoidance": "The left gripper should be moved to pick up the pink cube." + }, + { + "sample": "pick_cube_drawer_plate_episode_13", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_13.hdf5", + "verdict": "fail", + "onset": 1.835255, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the pink cube.\nObservation: the left gripper failed to close sufficiently to grasp the pink cube \nResult: the cube could not be secured and lifted", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "pick_cube_drawer_plate_episode_14", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_14.hdf5", + "verdict": "fail", + "onset": 3.133683, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the plate.\nObservation: The left gripper unexpectedly opened while transporting the pink cube towards the plate.\nResult: The left gripper failed to place the pink cube on the blue plate.", + "avoidance": "Close the left gripper while moving." + }, + { + "sample": "pick_cube_drawer_plate_episode_15", + "task_id": "pick_cube_drawer_plate", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_cube_drawer_plate/episode_15.hdf5", + "verdict": "fail", + "onset": 6.36, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the pink cube on the plate.\nObservation: The left gripper failed to open to release the pink cube onto the plate.\nResult: The left gripper failed to release the cube on the plate.", + "avoidance": "Open the left gripper to release the cube." + }, + { + "sample": "pick_cube_place_plate_episode_0", + "task_id": "pick_cube_place_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_0.hdf5", + "verdict": "fail", + "onset": 2.721942, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: Gripper was slightly offset forward, misaligning its grasp axis.\nResult: The gripper failed to make contact or grasp the cube.", + "avoidance": "Move the gripper slightly backward." + }, + { + "sample": "pick_cube_place_plate_episode_1", + "task_id": "pick_cube_place_plate", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_place_plate_episode_2", + "task_id": "pick_cube_place_plate", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_2.hdf5", + "verdict": "fail", + "onset": 3.118876, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the blue cube.\nObservation: the left gripper didn't close enough to grasp the blue cube.\nResult: the left gripper failed to grasp the blue cube before moving.", + "avoidance": "Close the left gripper with enough force before moving." + }, + { + "sample": "pick_cube_place_plate_episode_3", + "task_id": "pick_cube_place_plate", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_3.hdf5", + "verdict": "fail", + "onset": 3.509999, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left gripper approached the blue cube offset slightly to the left.\nResult: the left gripper failed to grasp the blue cube.", + "avoidance": "Move the left gripper to the right slightly." + }, + { + "sample": "pick_cube_place_plate_episode_4", + "task_id": "pick_cube_place_plate", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_4.hdf5", + "verdict": "fail", + "onset": 2.490947, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: The left gripper approached the blue cube, offset slightly to the right and slightly backward.\nResult: The left gripper failed to grasp the blue cube.", + "avoidance": "Move the left gripper to the left, downward, and forward slightly." + }, + { + "sample": "pick_cube_place_plate_episode_5", + "task_id": "pick_cube_place_plate", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_5.hdf5", + "verdict": "fail", + "onset": 2.588524, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: The left gripper approached the blue cube, offset slightly upward.\nResult: The left gripper missed grasping the blue cube.", + "avoidance": "Move the left gripper slightly downward." + }, + { + "sample": "pick_cube_place_plate_episode_6", + "task_id": "pick_cube_place_plate", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_6.hdf5", + "verdict": "fail", + "onset": 3.9283945, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the green plate.\nObservation: the left gripper unexpectedly opened immediately after successfully grasping and lifting the blue cube, causing the cube to slip from its grasp and fall\nResult: the cube was dropped mid-transport and could not be placed onto the green plate", + "avoidance": "Close the left gripper during alignment phase" + }, + { + "sample": "pick_cube_place_plate_episode_7", + "task_id": "pick_cube_place_plate", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_7.hdf5", + "verdict": "fail", + "onset": 2.170526, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left gripper incorrectly selected and picked up the green cube instead of the blue cube\nResult: the left gripper failed to grasp the blue cube", + "avoidance": "Move the left gripper to the right and forward significantly to grasp the blue cube." + }, + { + "sample": "pick_cube_place_plate_episode_9", + "task_id": "pick_cube_place_plate", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_cube_place_plate/episode_9.hdf5", + "verdict": "fail", + "onset": 4.215263, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue cube.\nObservation: the left arm did not open its gripper before attempting to grasp the blue cube\nResult: the left gripper failed to grasp the blue cube", + "avoidance": "Open the left gripper during approaching the blue cube" + }, + { + "sample": "pick_cube_put_pot_episode_0", + "task_id": "pick_cube_put_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_put_pot_episode_1", + "task_id": "pick_cube_put_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_put_pot_episode_2", + "task_id": "pick_cube_put_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_put_pot_episode_3", + "task_id": "pick_cube_put_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 4.043597, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper misaligned its target, placing the red cube into the glass instead of the red pot.\nResult: The left gripper failed to move the red cube into the red pot.", + "avoidance": "Move the left arm to align with the red pot instead of the glass." + }, + { + "sample": "pick_cube_put_pot_episode_4", + "task_id": "pick_cube_put_pot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_4.hdf5", + "verdict": "fail", + "onset": 6.535172, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: the left gripper placed the red cube on the purple plate instead of the red pot during alignment\nResult: The red cube was misplaced", + "avoidance": "Move the left arm to align with the red pot instead of the purple plate." + }, + { + "sample": "pick_cube_put_pot_episode_5", + "task_id": "pick_cube_put_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 1.996418, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the red cube.\nObservation: The left gripper aligned with and grasped the green block.\nResult: The red block is not grasped by the left gripper.", + "avoidance": "Align the left gripper with the red block." + }, + { + "sample": "pick_cube_put_pot_episode_13", + "task_id": "pick_cube_put_pot", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_13.hdf5", + "verdict": "fail", + "onset": 3.992368, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the red cube.\nObservation: The left gripper failed to close sufficiently to grasp the red cube.\nResult: The left gripper failed to grasp the red cube.", + "avoidance": "Close the left gripper sufficiently to secure the red cube." + }, + { + "sample": "pick_cube_put_pot_episode_14", + "task_id": "pick_cube_put_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_cube_put_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 3.430736, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the red cube.\nObservation: The left gripper failed to close sufficiently to grasp the red cube.\nResult: The left gripper failed to grasp the red cube.", + "avoidance": "Close the left gripper to grasp the red cube." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_0", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_1", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_2", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_3", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_4", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_5", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_6", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_7", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_8", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_9", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_10", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_11", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_12", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_13", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_14", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_15", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_16", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_17", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_18", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_19", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_20", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_21", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_22", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_23", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_24", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_25", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_25", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_25.hdf5", + "verdict": "fail", + "onset": 6.3730519999999995, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right gripper dropped the blue cube directly into the basket, violating the planned sequence, which should transfer the blue cube to the left arm.\nResult: The right arm failed to transfer the blue cube to the left arm.", + "avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm instead of dropping it into the basket." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_26", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_26", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_26.hdf5", + "verdict": "fail", + "onset": 7.516315499999999, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm bypassed the planned transfer step and directly placed the blue cube into the basket.\nResult: This led to the left arm being idle and the task’s dual-arm coordination objective being unmet.", + "avoidance": "The right gripper needs to transfer the blue cube to the left gripper." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_27", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_27", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_27.hdf5", + "verdict": "fail", + "onset": 10.4, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: The left and right grippers moved to the center, then the left gripper moved to the basket; the whole process did not interact with any object.\nResult: The right arm failed to approach and align with the blue cube.", + "avoidance": "Move the right arm to approach and align with the blue cube." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_28", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_28.hdf5", + "verdict": "fail", + "onset": 7.006896, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm grasped the blue cube but did not transfer it to the left arm as planned.\nResult: The left arm remained idle, and the cube was placed directly into the basket by the right arm, violating the task sequence.", + "avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm instead of dropping it inside the basket with the right arm." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_36", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_36.hdf5", + "verdict": "fail", + "onset": 4.845157, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: the right arm directly dropped the blue cube inside the basket instead of transferring it to the left arm\nResult: the right arm failed to transfer the blue cube to the left arm", + "avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_41", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_41", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_41.hdf5", + "verdict": "fail", + "onset": 4.49705, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm bypassed the planned transfer step and directly placed the blue cube into the basket, violating the required handoff to the left arm.\nResult: The right arm failed to transfer the blue cube to the left arm.", + "avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_42", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_42", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_42.hdf5", + "verdict": "fail", + "onset": 4.3565015, + "type": [ + "wrong_placement", + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: the right arm bypassed the transfer step and directly placed the blue cube into the basket, violating the task plan\nResult: The task plan to place the cube with the left arm is violated", + "avoidance": "n.a." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_83", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_83", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_83.hdf5", + "verdict": "fail", + "onset": 6.56, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The right arm, holding the blue cube, did not transfer it to the left arm as planned.\nResult: The right gripper failed to transfer the blue cube to the left arm.", + "avoidance": "Move the right arm to a position where it can transfer the blue cube to the left arm." + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_95", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_95", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_95.hdf5", + "verdict": "fail", + "onset": 2.268473, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: The right arm did not open its gripper before attempting to grasp the blue cube.\nResult: The right arm failed to grasp the blue cube.", + "avoidance": "Open the right gripper to grasp" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_96", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_96", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_96.hdf5", + "verdict": "fail", + "onset": 2.357875, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the blue cube.\nObservation: the right arm did not open its gripper before attempting to grasp the blue cube, even though it was properly aligned.\nResult: The cube from being picked up, stopping the transfer sequence", + "avoidance": "Open the right gripper during the alignment phase" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_97", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_97", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_97.hdf5", + "verdict": "fail", + "onset": 6.746947, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to a position where it can transfer the blue cube to the left arm.\nObservation: The left arm did not open its gripper when it was supposed to receive the blue cube from the right arm.\nResult: The left arm failed to grasp the blue cube.", + "avoidance": "Open the left gripper to grasp" + }, + { + "sample": "pick_cube_transfer_place_basket_ep1_episode_106", + "task_id": "pick_cube_transfer_place_basket_ep1", + "episode": "episode_106", + "robot": "agilex", + "hdf5": "episodes/pick_cube_transfer_place_basket_ep1/episode_106.hdf5", + "verdict": "fail", + "onset": 11.614991, + "type": [ + "open_error" + ], + "reason": "Expected: Place the blue cube into the basket using the left arm.\nObservation: the left gripper failed to open fully while positioning the blue cube over the basket,\nResult: the left gripper failed to drop the blue cube inside the basket", + "avoidance": "Open the left gripper to release the cube." + }, + { + "sample": "pick_cup_on_left_table_episode_0", + "task_id": "pick_cup_on_left_table", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cup_on_left_table_episode_1", + "task_id": "pick_cup_on_left_table", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_1.hdf5", + "verdict": "fail", + "onset": 2.991157, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup, offset slightly to the right and backward.\nResult: The right gripper failed to grasp the blue cup.", + "avoidance": "Move the right gripper to the left and slightly forward." + }, + { + "sample": "pick_cup_on_left_table_episode_2", + "task_id": "pick_cup_on_left_table", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_2.hdf5", + "verdict": "fail", + "onset": 3.434244, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the blue cup.\nObservation: the right gripper failed to close sufficiently while grasping the blue cup\nResult: The gripper did not grasp the blue cup", + "avoidance": "Close the gripper more tightly" + }, + { + "sample": "pick_cup_on_left_table_episode_3", + "task_id": "pick_cup_on_left_table", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_3.hdf5", + "verdict": "fail", + "onset": 3.715684, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup with its orientation misaligned relative to the blue cup, causing it to strike the cup’s side instead of grasping it.\nResult: The right gripper failed to grasp the blue cup edge.", + "avoidance": "Rotate the right gripper counterclockwise." + }, + { + "sample": "pick_cup_on_left_table_episode_4", + "task_id": "pick_cup_on_left_table", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_4.hdf5", + "verdict": "fail", + "onset": 2.718947, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the left table.\nObservation: The right gripper failed to maintain a secure grasp on the blue cup during transit.\nResult: The right gripper failed to place the blue cup on the left table.", + "avoidance": "Close the right gripper while moving" + }, + { + "sample": "pick_cup_on_left_table_episode_5", + "task_id": "pick_cup_on_left_table", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_5.hdf5", + "verdict": "fail", + "onset": 3.247769, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the left arm was incorrectly used to manipulate the blue cup, even though the task plan required the right arm to perform this action. \nResult: The task plan was executed with the wrong gripper", + "avoidance": "Use the right gripper instead to align with the cup" + }, + { + "sample": "pick_cup_on_left_table_episode_7", + "task_id": "pick_cup_on_left_table", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_7.hdf5", + "verdict": "fail", + "onset": 4.697274, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper was orientation misaligned with the blue cup rim when approaching it.\nResult: The gripper failed to grasp the cup securely, resulting in a failed grasp.", + "avoidance": "The gripper can rotate 90 degrees to align with the cup rim." + }, + { + "sample": "pick_cup_on_left_table_episode_8", + "task_id": "pick_cup_on_left_table", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_8.hdf5", + "verdict": "fail", + "onset": 3.423947, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: The right gripper approached the blue cup, offset slightly to the left.\nResult: The gripper failed to secure the cup.", + "avoidance": "Move the right gripper slightly to the right." + }, + { + "sample": "pick_cup_on_left_table_episode_13", + "task_id": "pick_cup_on_left_table", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_13.hdf5", + "verdict": "fail", + "onset": 2.879997, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the left arm was incorrectly used to manipulate the blue cup, even though the task plan required the right arm to perform this action.\nResult: the blue cup was aligned and picked up by the wrong gripper.", + "avoidance": "Move the right arm instead of the left to approach and align the blue cup." + }, + { + "sample": "pick_cup_on_left_table_episode_14", + "task_id": "pick_cup_on_left_table", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_cup_on_left_table/episode_14.hdf5", + "verdict": "fail", + "onset": 4.025489, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the blue cup.\nObservation: the right gripper approached the blue cup with its orientation misaligned relative to the blue cup\nResult: The right gripper misses the grasp with the blue cup", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "pick_cylinder_place_drawer_episode_0", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cylinder_place_drawer_episode_1", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cylinder_place_drawer_episode_2", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_cylinder_place_drawer_episode_3", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 1.807999, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper incorrectly targeted and picked up the red cube instead of the green cylinder.\nResult: The left gripper picked up the red cube.", + "avoidance": "The left gripper needs to grasp the green cylinder." + }, + { + "sample": "pick_cylinder_place_drawer_episode_5", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 2.658526, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: the right arm grabbed the green cylinder instead of the left one, and the left gripper kept still.\nResult: the left gripper failed to approach and grasp the green cylinder.", + "avoidance": "Move the left arm instead of the right to approach and align with the green cylinder on the plate." + }, + { + "sample": "pick_cylinder_place_drawer_episode_6", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_6.hdf5", + "verdict": "fail", + "onset": 2.550573, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: the right gripper grasped the orange blocks, while the plan is for the left arm to approach and grasp the green cylinders.\nResult: the left gripper failed to grasp the cylinders.", + "avoidance": "Move the left arm instead of the right to approach and align with the green cylinder on the plate." + }, + { + "sample": "pick_cylinder_place_drawer_episode_10", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_10.hdf5", + "verdict": "fail", + "onset": 3.036105, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper is slightly to the right of the green cylinder, causing a collision with the orange cube.\nResult: The left gripper failed to grasp the green cylinder.", + "avoidance": "Move the left gripper slightly to the left." + }, + { + "sample": "pick_cylinder_place_drawer_episode_13", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_13.hdf5", + "verdict": "fail", + "onset": 3.49021, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green cylinder.\nObservation: The left gripper failed to close sufficiently to grasp the green cylinder.\nResult: The left gripper failed to grasp the green cylinder.", + "avoidance": "Close the left gripper sufficiently to secure the green cylinder." + }, + { + "sample": "pick_cylinder_place_drawer_episode_14", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 2.998105, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align with the green cylinder on the plate.\nObservation: The left gripper did not open to securely grasp the green cylinder.\nResult: The left gripper failed to grasp the green cylinder.", + "avoidance": "Open the left gripper during the grasping" + }, + { + "sample": "pick_cylinder_place_drawer_episode_15", + "task_id": "pick_cylinder_place_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_cylinder_place_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 3.351789, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the green cylinder into the drawer.\nObservation: The left gripper failed to open to release the green cylinder into the drawer during the placement phase.\nResult: The left gripper failed to release the green cylinder.", + "avoidance": "Open the left gripper to release" + }, + { + "sample": "pick_eraser_place_right_box_episode_0", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_eraser_place_right_box_episode_1", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_eraser_place_right_box_episode_2", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_eraser_place_right_box_episode_3", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_3.hdf5", + "verdict": "fail", + "onset": 2.823021, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The right gripper, not the left, was commanded to approach the eraser\nResult: The wrong arm executed the motion for approaching and aligning the eraser", + "avoidance": "Move left arm instead for the approach and alignment action" + }, + { + "sample": "pick_eraser_place_right_box_episode_4", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_4.hdf5", + "verdict": "fail", + "onset": 2.275, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The right gripper, not the left, was used to grasp the eraser, violating the task plan.\nResult: Used the wrong gripper; used the right gripper, not the left, to grasp the blackboard eraser.", + "avoidance": "needs to move the left gripper to grasp the blackboard eraser" + }, + { + "sample": "pick_eraser_place_right_box_episode_5", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_5.hdf5", + "verdict": "fail", + "onset": 1.991314, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The left gripper grasped the soda can instead of the eraser.\nResult: The left gripper failed to grasp the eraser.", + "avoidance": "The left gripper needs to grasp the eraser." + }, + { + "sample": "pick_eraser_place_right_box_episode_6", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_6.hdf5", + "verdict": "fail", + "onset": 2.138684, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: The left gripper grasped the stapler instead of the eraser.\nResult: The left gripper failed to grasp the eraser.", + "avoidance": "The left gripper needs to grasp the eraser." + }, + { + "sample": "pick_eraser_place_right_box_episode_11", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_11.hdf5", + "verdict": "fail", + "onset": 2.990786, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper approached the eraser with its orientation misaligned with the eraser, causing a misalignment during grasp initiation.\nResult: the gripper failed to securely grasp the eraser", + "avoidance": "Rotate the left gripper c" + }, + { + "sample": "pick_eraser_place_right_box_episode_12", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_12.hdf5", + "verdict": "fail", + "onset": 2.7370324999999998, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper approached the eraser offset slightly to the right and slightly forward with its orientation misaligned relative to the eraser\nResult: the gripper missed the eraser and moved into the box empty-handed.", + "avoidance": "Move the left gripper to the left slightly and backward slightly, and rotate the left gripper counterclockwise." + }, + { + "sample": "pick_eraser_place_right_box_episode_15", + "task_id": "pick_eraser_place_right_box", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_eraser_place_right_box/episode_15.hdf5", + "verdict": "fail", + "onset": 2.197241, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align the eraser.\nObservation: the left gripper failed to open before aligning with the eraser.\nResult: gripper could not grasp and secure the erase", + "avoidance": "Open the left gripper before alignment." + }, + { + "sample": "pick_green_cube_put_basket_episode_0", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_green_cube_put_basket_episode_1", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_green_cube_put_basket_episode_2", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_green_cube_put_basket_episode_4", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_4.hdf5", + "verdict": "fail", + "onset": 2.594526, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the green cube.\nObservation: The left gripper incorrectly targeted and grasped the orange duck instead of the green cube.\nResult: The left gripper failed to align with and grasp the green cube.", + "avoidance": "The left gripper needs to grasp the green cube." + }, + { + "sample": "pick_green_cube_put_basket_episode_5", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_5.hdf5", + "verdict": "fail", + "onset": 5.763684, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the woven basket.\nObservation: the left gripper placed the green cube instead of in the woven basket\nResult: the left gripper failed to align the wrong object on the plate", + "avoidance": "The left gripper aligns with the woven basket while moving." + }, + { + "sample": "pick_green_cube_put_basket_episode_6", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_6.hdf5", + "verdict": "fail", + "onset": 5.753684, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the woven basket.\nObservation: The left gripper placed the green cube on the blue plate instead of the woven basket.\nResult: The left gripper failed to place the green cube into the woven basket.", + "avoidance": "The left gripper needs to place the green cube into the woven basket." + }, + { + "sample": "pick_green_cube_put_basket_episode_13", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_13.hdf5", + "verdict": "fail", + "onset": 5.596578, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green cube.\nObservation: the left gripper failed to close sufficiently to grasp the green cube\nResult: the left gripper failed to grasp the green cube", + "avoidance": "Close the left gripper sufficiently to secure the green cube." + }, + { + "sample": "pick_green_cube_put_basket_episode_15", + "task_id": "pick_green_cube_put_basket", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_green_cube_put_basket/episode_15.hdf5", + "verdict": "fail", + "onset": 4.345473, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green cube.\nObservation: The left gripper failed to maintain a secure grasp on the green cube during the lift phase.\nResult: The left gripper failed to place the green cube into the basket.", + "avoidance": "Close the left gripper while moving." + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_1", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_2", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_3", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_4", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_6", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_7", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_9", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_10", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_11", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_12", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_13", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_14", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_16", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_17", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_18", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_19", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_20", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_21", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_22", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_23", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_24", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_cross_ep1_episode_155", + "task_id": "pick_marker_draw_cross_ep1", + "episode": "episode_155", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_cross_ep1/episode_155.hdf5", + "verdict": "fail", + "onset": 13.14021, + "type": [ + "translation_error", + "wrong_placement", + "avoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the green cup.\nObservation: The human hand moved the cup forward, interfering with the right gripper's realignment with the green cup, resulting in the marker being released significantly backward.\nResult: The right gripper failed to release the marker into the green cup.", + "avoidance": "Move the right gripper forward significantly to realign with the cup." + }, + { + "sample": "pick_marker_draw_line_episode_0", + "task_id": "pick_marker_draw_line", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_line_episode_1", + "task_id": "pick_marker_draw_line", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_line_episode_2", + "task_id": "pick_marker_draw_line", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_draw_line_episode_3", + "task_id": "pick_marker_draw_line", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_3.hdf5", + "verdict": "fail", + "onset": 4.613462, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the table surface.\nObservation: the left gripper released the marker back into the cup without performing the drawing sequence\nResult: the line drawing task is not executed", + "avoidance": "Move the left arm to align with the table surface." + }, + { + "sample": "pick_marker_draw_line_episode_4", + "task_id": "pick_marker_draw_line", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_4.hdf5", + "verdict": "fail", + "onset": 2.22571, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: the right arm erroneously initiated the approach to and attempted to grasp the marker while the left arm is still\nResult: the left arm failed to approach and grasp the marker in the cup", + "avoidance": "Move the left arm instead of the right to approach and align with the marker in the cup." + }, + { + "sample": "pick_marker_draw_line_episode_5", + "task_id": "pick_marker_draw_line", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_5.hdf5", + "verdict": "fail", + "onset": 4.313263, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Draw a line on the table.\nObservation: The marker tip did not touch the table surface, and the left gripper did not draw a line on the table, and then it moved back to the cup.\nResult: The left gripper failed to draw a line on the table.", + "avoidance": "Move the left arm to align with the table surface." + }, + { + "sample": "pick_marker_draw_line_episode_6", + "task_id": "pick_marker_draw_line", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_6.hdf5", + "verdict": "fail", + "onset": 1.924976, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: The right arm erroneously initiated the approach to and attempted to grasp the marker, instead of the left arm.\nResult: The left arm did not move and did not grasp the marker from the cup.", + "avoidance": "The correct arm, the left arm, must approach and align with the marker in the cup." + }, + { + "sample": "pick_marker_draw_line_episode_13", + "task_id": "pick_marker_draw_line", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_13.hdf5", + "verdict": "fail", + "onset": 4.13079, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker from the cup.\nObservation: The left gripper failed to close with sufficient force to grasp the marker before transferring.\nResult: The left gripper failed to grasp the marker from the cup.", + "avoidance": "The left gripper should close with a stronger force after grasping the marker." + }, + { + "sample": "pick_marker_draw_line_episode_14", + "task_id": "pick_marker_draw_line", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_14.hdf5", + "verdict": "fail", + "onset": 3.676842, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the table surface.\nObservation: The left gripper released and dropped the marker during the transition to the drawing phase.\nResult: The left gripper failed to move the marker to draw a line on the table.", + "avoidance": "Close the left gripper tightly to secure the marker while moving." + }, + { + "sample": "pick_marker_draw_line_episode_15", + "task_id": "pick_marker_draw_line", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_marker_draw_line/episode_15.hdf5", + "verdict": "fail", + "onset": 3.279996, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align with the marker in the cup.\nObservation: The left gripper was in a closed position while aligning with the marker inside the cup.\nResult: The gripper failed to grasp the marker from the cup.", + "avoidance": "Open the gripper before moving forward to grasp the pen." + }, + { + "sample": "pick_marker_place_bowl_episode_0", + "task_id": "pick_marker_place_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_place_bowl_episode_2", + "task_id": "pick_marker_place_bowl", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_2.hdf5", + "verdict": "fail", + "onset": 4.953765, + "type": [ + "closing_error", + "translation_error", + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the white bowl.\nObservation: The right gripper dropped the marker on the table after grasping; the drop location is offset significantly to the right relative to the white bowl.\nResult: The marker could not be placed correctly into the white bowl.", + "avoidance": "Move the right gripper to the left to significantly align with the white bowl, then drop the marker." + }, + { + "sample": "pick_marker_place_bowl_episode_3", + "task_id": "pick_marker_place_bowl", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_3.hdf5", + "verdict": "fail", + "onset": 1.792421, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper incorrectly selected and manipulated the fork instead of the marker.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Move the right arm to approach and align the marker instead of the fork." + }, + { + "sample": "pick_marker_place_bowl_episode_4", + "task_id": "pick_marker_place_bowl", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_4.hdf5", + "verdict": "fail", + "onset": 3.108051, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker with its orientation misaligned relative to the marker.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Rotate the right gripper clockwise before grasping." + }, + { + "sample": "pick_marker_place_bowl_episode_6", + "task_id": "pick_marker_place_bowl", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_6.hdf5", + "verdict": "fail", + "onset": 3.921263, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker.\nObservation: the right gripper failed to close sufficiently to grasp the marker\nResult: the right gripper failed to grasp the marker", + "avoidance": "Close the right gripper sufficiently to grasp the marker." + }, + { + "sample": "pick_marker_place_bowl_episode_7", + "task_id": "pick_marker_place_bowl", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_7.hdf5", + "verdict": "fail", + "onset": 2.226833, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached and aligned the marker offset significantly backward.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Move the right gripper significantly forward." + }, + { + "sample": "pick_marker_place_bowl_episode_10", + "task_id": "pick_marker_place_bowl", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_10.hdf5", + "verdict": "fail", + "onset": 3.218979, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker offset slightly to the right with its orientation misaligned, preventing a stable grasp\nResult: The marker was not grasped.", + "avoidance": "Move the right gripper to the left slightly, and rotate the right gripper clockwise." + }, + { + "sample": "pick_marker_place_bowl_episode_11", + "task_id": "pick_marker_place_bowl", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_11.hdf5", + "verdict": "fail", + "onset": 2.763806, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: he right gripper approached the marker with its orientation misaligned relative to the marker grasp axis\nResult: marker was not secured and remained on the table.", + "avoidance": "Rotate the right gripper to align with the marker grasp axis" + }, + { + "sample": "pick_marker_place_bowl_episode_12", + "task_id": "pick_marker_place_bowl", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_12.hdf5", + "verdict": "fail", + "onset": 2.464105, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker offset significantly to the right with its orientation misaligned relative to the marker, misaligning its grasp axis relative to the marker’s orientation.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Move the right gripper significantly to the left and rotate it counterclockwise." + }, + { + "sample": "pick_marker_place_bowl_episode_14", + "task_id": "pick_marker_place_bowl", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_bowl/episode_14.hdf5", + "verdict": "fail", + "onset": 3.629787, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The right gripper approached the marker, offset slightly to the left and significantly forward.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Move the right gripper slightly to the right and significantly backward before grasping." + }, + { + "sample": "pick_marker_place_cup_episode_0", + "task_id": "pick_marker_place_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_place_cup_episode_1", + "task_id": "pick_marker_place_cup", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_place_cup_episode_2", + "task_id": "pick_marker_place_cup", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_place_cup_episode_3", + "task_id": "pick_marker_place_cup", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_3.hdf5", + "verdict": "fail", + "onset": 5.874526, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the purple cup.\nObservation: The left gripper misaligned with the marker with the target purple cup, placing it into the wrong teal cup instead.\nResult: The marker was deposited in an incorrect location.", + "avoidance": "Move the arm to align the marker with the purple cup." + }, + { + "sample": "pick_marker_place_cup_episode_4", + "task_id": "pick_marker_place_cup", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_4.hdf5", + "verdict": "fail", + "onset": 1.644579, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper incorrectly approached and lifted the remote control instead of the marker during the approach phase.\nResult: the marker was not grasped and the sequence is broken", + "avoidance": "The gripper should grasp the remote instead." + }, + { + "sample": "pick_marker_place_cup_episode_5", + "task_id": "pick_marker_place_cup", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_5.hdf5", + "verdict": "fail", + "onset": 4.042947, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the right gripper, instead of the planned left one, grasped the marker\nResult: the left gripper failed to approach and grasp the marker", + "avoidance": "Move the left arm instead of the right to approach and align the marker." + }, + { + "sample": "pick_marker_place_cup_episode_9", + "task_id": "pick_marker_place_cup", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_9.hdf5", + "verdict": "fail", + "onset": 3.811531, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The left gripper approached the marker with its orientation misaligned relative to the marker, causing a misalignment during grasping.\nResult: The gripper failed to secure the marker, leading to task abortion.", + "avoidance": "Rotate the left gripper to align with the marker." + }, + { + "sample": "pick_marker_place_cup_episode_14", + "task_id": "pick_marker_place_cup", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_14.hdf5", + "verdict": "fail", + "onset": 4.362105, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker.\nObservation: The left gripper failed to close sufficiently to grasp the marker.\nResult: The left gripper failed to grasp and move the marker.", + "avoidance": "Close the left gripper sufficiently when grasping." + }, + { + "sample": "pick_marker_place_cup_episode_15", + "task_id": "pick_marker_place_cup", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_marker_place_cup/episode_15.hdf5", + "verdict": "fail", + "onset": 3.227, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the purple cup.\nObservation: The left gripper failed to close tightly, causing the marker to fall during the task.\nResult: The left gripper failed to place the marker into the purple cup.", + "avoidance": "Close the left gripper while moving" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_0", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_1", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_2", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_3", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_3.hdf5", + "verdict": "fail", + "onset": 5.266317, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the right arm with the left arm.\nObservation: the right arm bypassed the planned handover to the left arm and directly placed the marker in the cup, violating the execution order\nResult: the left arm remained idle and the task plan is violated", + "avoidance": "Aligning the two arms to transfer the marker from the right to the left instead of dropping it directly into the cup with the right arm" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_5", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_5.hdf5", + "verdict": "fail", + "onset": 2.293678, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm erroneously initiated the approach to and attempted to grasp the marker, instead of the designated right arm.\nResult: The wrong arm was mobilized, leading to an aborted grasp and a complete breakdown of the planned handover sequence.", + "avoidance": "Use the right arm to grasp the marker." + }, + { + "sample": "pick_marker_transfer_place_cup_episode_6", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_6.hdf5", + "verdict": "fail", + "onset": 2.267894, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: The left arm erroneously initiated the approach to and attempted to grasp the marker, instead of the designated right arm.\nResult: Used the wrong arm; used the left arm, not the right arm, to grasp the marker.", + "avoidance": "needs to use the right arm to grasp the marker" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_11", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_11.hdf5", + "verdict": "fail", + "onset": 2.598095, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the marker.\nObservation: the right gripper approached the marker offset slightly to the right and slightly forward with its orientation anti-clockwise to the marker.\nResult: the marker was not grasped by the right gripper.", + "avoidance": "The right gripper moved slightly left and slightly downward, and rotated to be clockwise to the marker before grasping." + }, + { + "sample": "pick_marker_transfer_place_cup_episode_12", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_12.hdf5", + "verdict": "fail", + "onset": 7.264736, + "type": [ + "translation_error" + ], + "reason": "Expected: Align the right arm with the left arm.\nObservation: The left gripper was positioned significantly offset to the left.\nResult: the left gripper could not securely grasp the marker.", + "avoidance": "Move the left gripper significantly to the right" + }, + { + "sample": "pick_marker_transfer_place_cup_episode_14", + "task_id": "pick_marker_transfer_place_cup", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_cup/episode_14.hdf5", + "verdict": "fail", + "onset": 5.865628, + "type": [ + "open_error" + ], + "reason": "Expected: Transfer the marker from the right arm to the left arm.\nObservation: After the left gripper successfully grasped the marker during the handover, the right gripper failed to release the marker.\nResult: The right arm failed to transfer the marker to the left arm, leaving the marker in the right arm.", + "avoidance": "Release the right gripper to hand over the marker to the left arm." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_0", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_1", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_2", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_3", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_4", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_5", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_6", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_7", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_8", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_9", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_10", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_11", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_12", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_13", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_14", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_15", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_16", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_17", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_18", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_19", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_20", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_21", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_22", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_23", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_24", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_29", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_29.hdf5", + "verdict": "fail", + "onset": 8.92, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and the right arm.\nObservation: The right arm was still after the left arm picked it up to transfer; also, the left arm didn't move to the right to prepare for the right arm grasping.\nResult: The right gripper failed to grasp the marker from the left arm.", + "avoidance": "Move the left arm to the right and the right arm to the left to align and transfer the marker." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_32", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_32", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_32.hdf5", + "verdict": "fail", + "onset": 3.388198, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the right gripper incorrectly attempted to grasp the marker before the left gripper had secured it\nResult: the right gripper, not the left gripper, grasped the marker, leading to the task failing", + "avoidance": "needs to use the left gripper to grasp the marker" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_37", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_37", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_37.hdf5", + "verdict": "fail", + "onset": 4.674593, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and the right arm.\nObservation: the left arm moved the marker directly toward the plate without first aligning with the right arm for transfer, violating the planned sequence\nResult: The right arm is unable to receive the marker, violating the task plan", + "avoidance": "Align the left arm and the right arm for transferring instead of dropping the marker into the plate." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_38", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_38", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_38.hdf5", + "verdict": "fail", + "onset": 5.29927, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and the right arm.\nObservation: The left arm moved the marker directly toward the plate without first aligning with the right arm for transfer.\nResult: The left gripper failed to transfer to the right arm, and the right arm was unable to receive the object.", + "avoidance": "Transfer the marker from the left arm to the right arm instead of placing it to the plate." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_41", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_41", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_41.hdf5", + "verdict": "fail", + "onset": 4.5639485, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and the right arm.\nObservation: The left arm moved the marker directly toward the plate instead of transferring it to the right arm.\nResult: The right gripper failed to get the marker from the left gripper.", + "avoidance": "The left gripper should move the marker to a position where the right arm can align with it, instead of dropping it into the plate." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_44", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_44", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_44.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_149", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_149", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_149.hdf5", + "verdict": "fail", + "onset": 4.668631, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker was taken away by a human, which prevented the left gripper from grasping it.\nResult: The left gripper failed to grasp the red marker.", + "avoidance": "This is unavoidable; the red marker was taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_150", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_150", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_150.hdf5", + "verdict": "fail", + "onset": 6.76, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the red marker has been taken away by human hand, which prevents the left gripper from aligning with it\nResult: the left gripper failed to grasp the marker", + "avoidance": "This is unavoidable; the target object has been taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_151", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_151", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_151.hdf5", + "verdict": "fail", + "onset": 3.358105, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the red marker has been taken away by a human, which prevents the left gripper from aligning with it.\nResult: the left gripper failed to grasp the marker.", + "avoidance": "This is unavoidable; the target object has been taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_152", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_152", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_152.hdf5", + "verdict": "fail", + "onset": 4.040314, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker has been taken away by a human, which prevents the left gripper from aligning with it.\nResult: The left gripper failed to grasp the marker.", + "avoidance": "This is unavoidable; the target object has been taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_153", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_153", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_153.hdf5", + "verdict": "fail", + "onset": 2.794, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The red marker has been taken away by a human, which prevents the left gripper from grasping it.\nResult: The left gripper failed to grasp the marker.", + "avoidance": "This is unavoidable; the red marker has been taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_154", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_154", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_154.hdf5", + "verdict": "fail", + "onset": 11.609368, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate has been taken away by a human, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the plate.", + "avoidance": "This is unavoidable; the green plate has been taken away by a human." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_155", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_155", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_155.hdf5", + "verdict": "fail", + "onset": 9.6, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate is occluded by a book, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.", + "avoidance": "This is unavoidable; the green plate is occluded by a book." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_157", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_157", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_157.hdf5", + "verdict": "fail", + "onset": 8.96, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate has been occluded by a human, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.", + "avoidance": "This is unavoidable; the green plate is occluded." + }, + { + "sample": "pick_marker_transfer_place_plate_ep1_episode_158", + "task_id": "pick_marker_transfer_place_plate_ep1", + "episode": "episode_158", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep1/episode_158.hdf5", + "verdict": "fail", + "onset": 7.92, + "type": [ + "unavoidable_intervention" + ], + "reason": "Expected: Move the right arm to align with the green plate.\nObservation: The green plate is occluded by a book, which prevents the right gripper from placing the marker into it.\nResult: The right gripper failed to place the marker into the green plate.", + "avoidance": "This is unavoidable; the green plate is occluded by a book." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_17", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_17.hdf5", + "verdict": "fail", + "onset": 2.227263, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the left and upward.\nResult: the gripper failed to grasp the marker.", + "avoidance": "Move the left gripper to the right and downward slightly." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_20", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_20.hdf5", + "verdict": "fail", + "onset": 9.13387, + "type": [ + "closing_error", + "translation_error" + ], + "reason": "Expected: Move the left arm to a position for transferring the marker to the right arm.\nObservation: The right gripper aligned slightly downward, causing it to grasp the left gripper instead of the marker during grasping, which caused the marker to be ejected.\nResult: The right gripper failed to align with the left arm to grasp the marker in the transferring phase.", + "avoidance": "Move the right arm slightly upward to target the marker before grasping." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_27", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_27", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_27.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_29", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_29.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_30", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_30.hdf5", + "verdict": "success" + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_31", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_31", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_31.hdf5", + "verdict": "fail", + "onset": 3.67999, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the marker with the left arm.\nObservation: the left gripper failed to close sufficiently to secure the marker during the grasping phase.\nResult: the left gripper failed to grasp and transfer the marker to the right arm.", + "avoidance": "Close the left gripper tightly to secure the marker when grasping." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_36", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_36.hdf5", + "verdict": "fail", + "onset": 3.3919915, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the left and slightly backward.\nResult: the left gripper failed to grasp the marker.", + "avoidance": "Move the left gripper slightly to the right and forward." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_38", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_38", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_38.hdf5", + "verdict": "fail", + "onset": 3.467208, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: the left gripper approached the marker offset slightly to the right, forward, and upward\nResult: the left gripper failed to grasp the marker.", + "avoidance": "Move the left arm to the left, backward and downward slightly." + }, + { + "sample": "pick_marker_transfer_place_plate_ep2_episode_40", + "task_id": "pick_marker_transfer_place_plate_ep2", + "episode": "episode_40", + "robot": "agilex", + "hdf5": "episodes/pick_marker_transfer_place_plate_ep2/episode_40.hdf5", + "verdict": "fail", + "onset": 2.175282, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the marker.\nObservation: The left gripper approached the marker offset significantly to the left, failing to center over the object.\nResult: The grasp attempt was imprecise, leading to a failed pickup.", + "avoidance": "Move the left gripper significantly to the right." + }, + { + "sample": "pick_mouse_basket_episode_0", + "task_id": "pick_mouse_basket", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_mouse_basket_episode_1", + "task_id": "pick_mouse_basket", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_mouse_basket_episode_2", + "task_id": "pick_mouse_basket", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_mouse_basket_episode_3", + "task_id": "pick_mouse_basket", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_3.hdf5", + "verdict": "fail", + "onset": 1.778736, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The right arm incorrectly targeted and moved the black rectangular object instead of the mouse.\nResult: The right arm failed to target the mouse on the tray.", + "avoidance": "Move the right arm to align with the mouse on the tray instead of the black rectangular object." + }, + { + "sample": "pick_mouse_basket_episode_4", + "task_id": "pick_mouse_basket", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_4.hdf5", + "verdict": "fail", + "onset": 2.488421, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The left gripper was incorrectly activated to grasp the mouse, instead of the right gripper as planned.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to grasp the mouse.", + "avoidance": "Use the right gripper to grasp the mouse." + }, + { + "sample": "pick_mouse_basket_episode_5", + "task_id": "pick_mouse_basket", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_5.hdf5", + "verdict": "fail", + "onset": 2.368263, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: the right gripper incorrectly targeted and picked up the black rectangular object instead of the mouse.\nResult: the mouse remained on the plate while the wrong object was placed in the basket.", + "avoidance": "Move the right arm to align with the mouse on the tray." + }, + { + "sample": "pick_mouse_basket_episode_6", + "task_id": "pick_mouse_basket", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_6.hdf5", + "verdict": "fail", + "onset": 1.688417, + "type": [ + "wrong_gripper", + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: The left gripper was incorrectly activated to grasp the blackboard eraser, instead of using the right gripper to grasp the mouse as planned.\nResult: Used the wrong gripper to grasp the wrong object; used the left gripper to grasp the blackboard eraser, instead of using the right gripper to grasp the mouse.", + "avoidance": "Needs to use the right gripper to grasp the mouse." + }, + { + "sample": "pick_mouse_basket_episode_14", + "task_id": "pick_mouse_basket", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_14.hdf5", + "verdict": "fail", + "onset": 2.6570115, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the basket.\nObservation: the right gripper unexpectedly opened while transporting the mouse towards the basket , dropping the mouse.\nResult: the gripper is not able to place the mouse in the basket", + "avoidance": "Close the right gripper tightly" + }, + { + "sample": "pick_mouse_basket_episode_15", + "task_id": "pick_mouse_basket", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_mouse_basket/episode_15.hdf5", + "verdict": "fail", + "onset": 4.073684, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to align with the mouse on the tray.\nObservation: the right gripper failed to open before grasping the mouse.\nResult: the right gripper failed to grasp the mouse", + "avoidance": "Open the right gripper before grasping." + }, + { + "sample": "pick_object_place_left_box_ep1_episode_0", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_1", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_3", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_4", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_5", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_6", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_7", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_8", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_9", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_10", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_11", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_12", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_13", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_14", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_15", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_16", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_17", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_18", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_19", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_20", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_21", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_22", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_23", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_object_place_left_box_ep1_episode_24", + "task_id": "pick_object_place_left_box_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_object_place_left_box_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_into_microwave_episode_31", + "task_id": "pick_orange_block_place_into_microwave", + "episode": "episode_31", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_31.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_into_microwave_episode_114", + "task_id": "pick_orange_block_place_into_microwave", + "episode": "episode_114", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_into_microwave/episode_114.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_pot_episode_0", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_pot_episode_1", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_pot_episode_2", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_orange_block_place_pot_episode_8", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_8.hdf5", + "verdict": "fail", + "onset": 2.836723, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: the left gripper is offset significantly to the right and forward relative to the orange block\nResult: the left gripper failed to grasp the orange block", + "avoidance": "Move the left gripper to the left and backward significantly." + }, + { + "sample": "pick_orange_block_place_pot_episode_10", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_10.hdf5", + "verdict": "fail", + "onset": 2.517894, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: the left gripper is slightly offset upward relative to the orange block.\nResult: the left gripper failed to grasp the orange block.", + "avoidance": "Move the left gripper slightly downward." + }, + { + "sample": "pick_orange_block_place_pot_episode_12", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_12.hdf5", + "verdict": "fail", + "onset": 3.191052, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the orange block.\nObservation: The left gripper is offset significantly to the left and forward relative to the orange block.\nResult: The left gripper failed to grasp and move the orange block.", + "avoidance": "Move the left gripper significantly to the right and backward." + }, + { + "sample": "pick_orange_block_place_pot_episode_13", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_13.hdf5", + "verdict": "fail", + "onset": 2.199856, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the orange block.\nObservation: the left gripper did not close sufficiently to grasp the orange block.\nResult: The left gripper failed to grasp and transfer it to the pot.", + "avoidance": "The left gripper should close tightly to grasp the orange block." + }, + { + "sample": "pick_orange_block_place_pot_episode_14", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 3.806052, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the pot.\nObservation: the left gripper did not hold the orange cube tightly during movement, causing it to fall onto the table\nResult: the gripper failed to place the orange cube into the red pot", + "avoidance": "Close the left gripper while moving" + }, + { + "sample": "pick_orange_block_place_pot_episode_15", + "task_id": "pick_orange_block_place_pot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_orange_block_place_pot/episode_15.hdf5", + "verdict": "fail", + "onset": 4.780684, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the orange block into the pot.\nObservation: the left gripper hovers above the pot without releasing to place the orange block into the pot\nResult: the left gripper failed to release the orange block into the pot", + "avoidance": "Open the left gripper to release the orange block." + }, + { + "sample": "pick_pepsi_place_bowl_episode_0", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_pepsi_place_bowl_episode_1", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_pepsi_place_bowl_episode_2", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_pepsi_place_bowl_episode_3", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_3.hdf5", + "verdict": "fail", + "onset": 2.539087, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: The left arm erroneously initiated the approach and grabbed the Pepsi can, instead of the designated right arm.\nResult: The right gripper failed to grasp the Pepsi can.", + "avoidance": "Move the right arm instead of the left to approach and align with the Pepsi bottle." + }, + { + "sample": "pick_pepsi_place_bowl_episode_4", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_4.hdf5", + "verdict": "fail", + "onset": 2.424999, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: The right gripper grasped the red cube instead of the Pepsi can.\nResult: The right gripper did not place the Pepsi can in the bowl.", + "avoidance": "The right gripper needs to grasp the Pepsi can." + }, + { + "sample": "pick_pepsi_place_bowl_episode_5", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_5.hdf5", + "verdict": "fail", + "onset": 4.852634, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the blue bowl.\nObservation: the right arm misplanned the placement target, depositing the can into the green cup instead of the blue bowl\nResult: the can was misplaced into the green cup", + "avoidance": "Move the right arm to align with the blue bowl instead of the green cup." + }, + { + "sample": "pick_pepsi_place_bowl_episode_6", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_6.hdf5", + "verdict": "fail", + "onset": 1.999998, + "type": [ + "wrong_gripper", + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the Pepsi bottle.\nObservation: the left arm approached and aligned with the red cube, using the wrong arm and targeting the wrong object.\nResult: the right arm failed to grasp the Pepsi bottle.", + "avoidance": "Move the right arm to approach and align with the Pepsi bottle, instead of the left arm to the red cube." + }, + { + "sample": "pick_pepsi_place_bowl_episode_13", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_13.hdf5", + "verdict": "fail", + "onset": 4.077186, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the Pepsi bottle.\nObservation: The right gripper failed to close sufficiently to grasp the Pepsi can.\nResult: The can was not secured and remained on the table.", + "avoidance": "Close the right gripper tightly." + }, + { + "sample": "pick_pepsi_place_bowl_episode_15", + "task_id": "pick_pepsi_place_bowl", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_place_bowl/episode_15.hdf5", + "verdict": "fail", + "onset": 4.378421, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the Pepsi bottle upright in the blue bowl.\nObservation: The right gripper did not fully open to release the Pepsi can during placement in the bowl.\nResult: The right gripper failed to place the Pepsi can in the blue bowl.", + "avoidance": "Open the right gripper to release the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_26", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_26", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_26.hdf5", + "verdict": "fail", + "onset": 2.578947, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper instead of the planned left gripper grasped the Pepsi can\nResult: the left gripper failed to approach and align with the Pepsi can", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_28", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_28", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_28.hdf5", + "verdict": "fail", + "onset": 2.7116155, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper, instead of the planned left gripper, grasped the Pepsi can.\nResult: the left arm failed to grasp the Pepsi can.", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_30", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_30.hdf5", + "verdict": "fail", + "onset": 3.497684, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper, not the left, was used to approach and grasp the Pepsi can.\nResult: the left gripper failed to approach and grasp the Pepsi can.", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_32", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_32", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_32.hdf5", + "verdict": "fail", + "onset": 3.4293329999999997, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right gripper approached and grasped the Pepsi can, while the left arm is still\nResult: the left arm failed to approach and grasp the Pepsi can", + "avoidance": "Move the left arm to approach and align with the Pepsi can first." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_34", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_34", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_34.hdf5", + "verdict": "fail", + "onset": 4.021186, + "type": [ + "wrong_gripper", + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right arm grabbed the Pepsi can first instead of the left arm, which was the wrong order.\nResult: the task plan is violated, and the pepsi could not be transferred", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_36", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_36", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_36.hdf5", + "verdict": "fail", + "onset": 3.518735, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: the right arm grabbed the Pepsi can while the left arm is still\nResult: the left arm failed to approach and grasp the Pepsi can", + "avoidance": "Move the left arm instead of the right arm to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_38", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_38", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_38.hdf5", + "verdict": "fail", + "onset": 2.630526, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, approached and grasped the Pepsi can.\nResult: The left arm failed to approach and grasp the Pepsi can.", + "avoidance": "Move the left arm instead of the right arm to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_41", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_41", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_41.hdf5", + "verdict": "fail", + "onset": 3.675789, + "type": [ + "wrong_gripper", + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, grabbed the Pepsi can.\nResult: The left arm failed to approach and grab the Pepsi can.", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_pepsi_transfer_place_plate_ep1_episode_42", + "task_id": "pick_pepsi_transfer_place_plate_ep1", + "episode": "episode_42", + "robot": "agilex", + "hdf5": "episodes/pick_pepsi_transfer_place_plate_ep1/episode_42.hdf5", + "verdict": "fail", + "onset": 3.584524, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the Pepsi can.\nObservation: The right arm, instead of the planned left arm, grabbed the Pepsi can, and the left arm is still.\nResult: The left arm failed to approach and align with the Pepsi can.", + "avoidance": "Move the left arm instead of the right to approach and align the Pepsi can." + }, + { + "sample": "pick_place_chem_ep1_episode_63", + "task_id": "pick_place_chem_ep1", + "episode": "episode_63", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_63.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_64", + "task_id": "pick_place_chem_ep1", + "episode": "episode_64", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_64.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_65", + "task_id": "pick_place_chem_ep1", + "episode": "episode_65", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_65.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_92", + "task_id": "pick_place_chem_ep1", + "episode": "episode_92", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_92.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_93", + "task_id": "pick_place_chem_ep1", + "episode": "episode_93", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_93.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_139", + "task_id": "pick_place_chem_ep1", + "episode": "episode_139", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_139.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_177", + "task_id": "pick_place_chem_ep1", + "episode": "episode_177", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_177.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_207", + "task_id": "pick_place_chem_ep1", + "episode": "episode_207", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_207.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_208", + "task_id": "pick_place_chem_ep1", + "episode": "episode_208", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_208.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep1_episode_209", + "task_id": "pick_place_chem_ep1", + "episode": "episode_209", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep1/episode_209.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep2_episode_31", + "task_id": "pick_place_chem_ep2", + "episode": "episode_31", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep2/episode_31.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep2_episode_48", + "task_id": "pick_place_chem_ep2", + "episode": "episode_48", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep2/episode_48.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep2_episode_74", + "task_id": "pick_place_chem_ep2", + "episode": "episode_74", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep2/episode_74.hdf5", + "verdict": "success" + }, + { + "sample": "pick_place_chem_ep2_episode_159", + "task_id": "pick_place_chem_ep2", + "episode": "episode_159", + "robot": "agilex", + "hdf5": "episodes/pick_place_chem_ep2/episode_159.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_2", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_3", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_4", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_5", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_6", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_7", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_8", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_9", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_13", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_14", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_15", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_17", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_18", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_19", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_20", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_21", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_22", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_23", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pick_plate_from_drawer_put_pink_cube_ep1_episode_24", + "task_id": "pick_plate_from_drawer_put_pink_cube_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pick_plate_from_drawer_put_pink_cube_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pick_red_marker_place_tray_episode_0", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_red_marker_place_tray_episode_1", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_red_marker_place_tray_episode_2", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_red_marker_place_tray_episode_3", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_3.hdf5", + "verdict": "fail", + "onset": 4.459421, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the white tray.\nObservation: The right gripper placed the red marker on the blue plate instead of the white tray.\nResult: The right gripper failed to place the red marker on the white tray.", + "avoidance": "Move the right arm to align with the white tray instead of the plate." + }, + { + "sample": "pick_red_marker_place_tray_episode_4", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_4.hdf5", + "verdict": "fail", + "onset": 2.112539, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the red marker.\nObservation: the right gripper selected and picked up the black pen instead of the red marker during the approach phase. \nResult: the right gripper failed to grasp the red marker.", + "avoidance": "Move the right arm to approach and align the red marker instead of the black pen." + }, + { + "sample": "pick_red_marker_place_tray_episode_5", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_5.hdf5", + "verdict": "fail", + "onset": 5.610758, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the white tray.\nObservation: the right gripper placed the red marker on the blue plate instead of the white tray during alignment\nResult: The marker was misplaced into the wrong place", + "avoidance": "Move the right arm to align with the white tray instead of the blue plate." + }, + { + "sample": "pick_red_marker_place_tray_episode_6", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_6.hdf5", + "verdict": "fail", + "onset": 1.498, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the red marker.\nObservation: The right gripper incorrectly selected and manipulated the orange object instead of the red marker.\nResult: The right gripper failed to grasp the marker.", + "avoidance": "Move the right arm to approach and align the red marker instead of the orange object." + }, + { + "sample": "pick_red_marker_place_tray_episode_13", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_13.hdf5", + "verdict": "fail", + "onset": 4.194472, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the red marker.\nObservation: The right gripper failed to close with sufficient force to grasp the red marker.\nResult: The right gripper failed to grasp and lift the red marker.", + "avoidance": "Close the right gripper before lifting." + }, + { + "sample": "pick_red_marker_place_tray_episode_15", + "task_id": "pick_red_marker_place_tray", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_red_marker_place_tray/episode_15.hdf5", + "verdict": "fail", + "onset": 6.673421, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the red marker into the white tray.\nObservation: The right gripper failed to open and release the red marker.\nResult: The right gripper failed to place the marker on the white plate.", + "avoidance": "Open the right gripper to release" + }, + { + "sample": "pick_remote_controller_transfer_board_episode_0", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_remote_controller_transfer_board_episode_1", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_remote_controller_transfer_board_episode_2", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_remote_controller_transfer_board_episode_3", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_3.hdf5", + "verdict": "fail", + "onset": 3.815724, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and right arm to a position ready to receive the remote controller.\nObservation: The right arm moved the remote directly toward the chopping board without first aligning with the left arm for transfer.\nResult: The left arm was never positioned to receive the object, causing the transfer to be skipped.", + "avoidance": "Align the left arm and right arm to a position ready to receive the remote controller." + }, + { + "sample": "pick_remote_controller_transfer_board_episode_4", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_4.hdf5", + "verdict": "fail", + "onset": 2.4379730000000004, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the remote controller.\nObservation: The left arm erroneously initiated the approach to the remote controller, instead of the designated right arm.\nResult: The right arm failed to grasp the remote controller.", + "avoidance": "Move the right arm instead of the left to align with the remote controller." + }, + { + "sample": "pick_remote_controller_transfer_board_episode_6", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_6.hdf5", + "verdict": "fail", + "onset": 4.311558, + "type": [ + "wrong_sequence" + ], + "reason": "Expected: Align the left arm and right arm to a position ready to receive the remote controller.\nObservation: The right arm placed the remote directly on the chopping board instead of transferring it to the left arm as planned.\nResult: The task plan is violated. The left gripper failed to receive the remote controller from the right arm.", + "avoidance": "Align the left and right arms to a position ready to transfer the remote controller." + }, + { + "sample": "pick_remote_controller_transfer_board_episode_10", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_10.hdf5", + "verdict": "fail", + "onset": 2.609765, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the remote controller.\nObservation: the right gripper approached the remote controller with its orientation misaligned relative to the remote controller\nResult: The right gripper fails to grasp the remote controller", + "avoidance": "Rotate the right gripper" + }, + { + "sample": "pick_remote_controller_transfer_board_episode_14", + "task_id": "pick_remote_controller_transfer_board", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_remote_controller_transfer_board/episode_14.hdf5", + "verdict": "fail", + "onset": 2.069788, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to align with the remote controller.\nObservation: The right gripper failed to open (transition to the open state) after aligning with the remote controller.\nResult: The right gripper did not grasp the remote controller.", + "avoidance": "Open the right gripper while aligning with the remote controller." + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_0", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_1", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_2", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_3", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_3.hdf5", + "verdict": "fail", + "onset": 2.039157, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper selected and picked up the green tool instead of the spoon.\nResult: The right gripper failed to select the spoon.", + "avoidance": "Move the right arm to approach and align the spoon instead of the green tool." + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_4", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_4.hdf5", + "verdict": "fail", + "onset": 2.752894, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper was supposed to grasp the spoon, but the left gripper moved to grasp it instead.\nResult: The right gripper failed to move and grasp the spoon.", + "avoidance": "Move the right arm instead of the left one to approach and align the spoon." + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_6", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_6.hdf5", + "verdict": "fail", + "onset": 2.18921, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper incorrectly selected and picked up the green object instead of the spoon.\nResult: The right gripper failed to grasp the spoon.", + "avoidance": "Move the right arm to approach and align the spoon instead of the green object." + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_11", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_11.hdf5", + "verdict": "fail", + "onset": 2.163641, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: the right gripper approached the spoon offset slightly to the left with its orientation misaligned relative to the spoon\nResult: the gripper could not securely grasp the spoon.", + "avoidance": "Move the right gripper to the right slightly, and rotate the right gripper" + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_12", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_12.hdf5", + "verdict": "fail", + "onset": 2.487684, + "type": [ + "orientation_error", + "translation_error" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: The right gripper approached the spoon, offset slightly to the right, with its orientation misaligned relative to the spoon.\nResult: The right gripper failed to grasp the spoon.", + "avoidance": "Move the right gripper slightly to the left and rotate it clockwise." + }, + { + "sample": "pick_spoon_place_rice_cooker_episode_14", + "task_id": "pick_spoon_place_rice_cooker", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_spoon_place_rice_cooker/episode_14.hdf5", + "verdict": "fail", + "onset": 2.654, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align the spoon.\nObservation: the right gripper did not open during the grasping subtask\nResult: the spoon remained on the table and was not placed into the rice cooker.", + "avoidance": "Open the right gripper before grasping." + }, + { + "sample": "pick_test_tube_place_left_slot_episode_0", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_left_slot_episode_1", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_left_slot_episode_2", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_left_slot_episode_3", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_3.hdf5", + "verdict": "fail", + "onset": 2.995118, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: the right gripper was moved to approach and align with the test tube, instead of the designated left gripper.\nResult: the left gripper failed to grasp the test cube, causing a task plan violation.", + "avoidance": "The left gripper should move to grasp the test tube." + }, + { + "sample": "pick_test_tube_place_left_slot_episode_4", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_4.hdf5", + "verdict": "fail", + "onset": 2.937103, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: The left gripper incorrectly targeted the pen instead of the test tube during the approach phase.\nResult: The robot grasped and misplaced the pen into the rack.", + "avoidance": "Move the left arm to approach and align with the test tube instead of the pen." + }, + { + "sample": "pick_test_tube_place_left_slot_episode_5", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_5.hdf5", + "verdict": "fail", + "onset": 5.255789, + "type": [ + "wrong_placement", + "wrong_sequence" + ], + "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: The left gripper, holding the test tube, did not align with the left empty slot on the rack and placed the test tube back in the cup.\nResult: The left gripper failed to move the test tube to the empty slot.", + "avoidance": "Move the left arm to align with the left empty slot on the rack instead of placing it back in the cup." + }, + { + "sample": "pick_test_tube_place_left_slot_episode_6", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_6.hdf5", + "verdict": "fail", + "onset": 5.98251, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the left empty slot on the rack.\nObservation: the left gripper misplanned its trajectory, targeting the green cup instead of the left empty slot on the rack during alignment.\nResult: the test tube was deposited in the wrong location", + "avoidance": "Move the left arm to align with the left empty slot on the rack instead of the green cup." + }, + { + "sample": "pick_test_tube_place_left_slot_episode_14", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_14.hdf5", + "verdict": "fail", + "onset": 4.369736, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align with the test tube.\nObservation: The left gripper failed to open properly during the grasping phase.\nResult: The left gripper failed to grasp the test tube.", + "avoidance": "Open the left gripper to grasp" + }, + { + "sample": "pick_test_tube_place_left_slot_episode_15", + "task_id": "pick_test_tube_place_left_slot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_left_slot/episode_15.hdf5", + "verdict": "fail", + "onset": 8.44, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the test tube in the left empty slot on the rack.\nObservation: the left gripper has been holding the test tube without releasing it when it was already aligned with the slot.\nResult: the left gripper failed to release the gripper to place the test tube in the left empty slot on the rack.", + "avoidance": "Release the gripper to place the test tube in the left empty slot on the rack after alignment." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_0", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_1", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_2", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_3", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_3.hdf5", + "verdict": "fail", + "onset": 4.338578, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left arm erroneously initiated the approach to the test tube, instead of the designated right arm.\nResult: The right gripper failed to grasp the test tube.", + "avoidance": "Move the right arm instead of the left to approach and align with the test tube." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_4", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_4.hdf5", + "verdict": "fail", + "onset": 6.481986, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the middle empty slot on the rack.\nObservation: the right gripper misaligned its trajectory, targeting the cup instead of the middle empty slot on the rack during the alignment subtask.\nResult: the test tube was not placed correctly", + "avoidance": "Move the right arm to align with the middle empty slot on the rack instead of the cup." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_5", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_5.hdf5", + "verdict": "fail", + "onset": 2.137158, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: the right gripper aligned with the marker instead of the test tube during the approach phase\nResult: the marker was incorrectly grasped instead of the test tube, violating the task plan", + "avoidance": "Move the right arm to approach and align with the test tube instead of the marker." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_6", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_6.hdf5", + "verdict": "fail", + "onset": 2.768946, + "type": [ + "wrong_gripper", + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The left arm erroneously initiated the approach to the blue marker, instead of the designated right arm, to grasp the test tube.\nResult: The right gripper failed to grasp the test tube.", + "avoidance": "The right gripper needs to grasp the test tube." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_14", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_14.hdf5", + "verdict": "fail", + "onset": 5.804842, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the test tube.\nObservation: The right gripper failed to open (transition to the open state) after aligning with the test tube.\nResult: The right gripper failed to grasp the test tube.", + "avoidance": "Open the right gripper before grasping." + }, + { + "sample": "pick_test_tube_place_middle_slot_episode_15", + "task_id": "pick_test_tube_place_middle_slot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_test_tube_place_middle_slot/episode_15.hdf5", + "verdict": "fail", + "onset": 11.84, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the test tube in the middle empty slot.\nObservation: The right gripper failed to open to release the test tube during the placement subtask.\nResult: The right gripper failed to release the test tube in the middle empty slot.", + "avoidance": "Release the right gripper once the test tube is already in the slot." + }, + { + "sample": "pick_vial_place_middle_slot_episode_0", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_middle_slot_episode_1", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_middle_slot_episode_2", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_middle_slot_episode_3", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_3.hdf5", + "verdict": "fail", + "onset": 2.9945304999999998, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: the right gripper approached and aligned to the vial, instead of the designated left gripper.\nResult: the left gripper failed to appraoch and pick up the vail", + "avoidance": "Move the left arm instead of the right to approach and align with the vial." + }, + { + "sample": "pick_vial_place_middle_slot_episode_4", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_4.hdf5", + "verdict": "fail", + "onset": 7.399282, + "type": [ + "translation_error", + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the middle empty slot on the rack.\nObservation: The left gripper lifted the vial and placed it in where it was lifted.\nResult: The vial was not secured in the rack, breaking the task sequence.", + "avoidance": "Place the vial in the middle empty slot on the rack instead of the left side space on the table." + }, + { + "sample": "pick_vial_place_middle_slot_episode_5", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_5.hdf5", + "verdict": "fail", + "onset": 2.267913, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: The left gripper incorrectly targeted and grasped the marker instead of the vial \nResult: The vial is not grasped.", + "avoidance": "The left gripper should align with the vial instead of the marker" + }, + { + "sample": "pick_vial_place_middle_slot_episode_6", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_6.hdf5", + "verdict": "fail", + "onset": 3.484842, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the vial.\nObservation: The right arm erroneously initiated the approach to the vial, instead of the designated left arm.\nResult: The wrong arm was mobilized, leading to an aborted approach and a complete breakdown of the planned sequence.", + "avoidance": "Use the left arm to grasp the vial." + }, + { + "sample": "pick_vial_place_middle_slot_episode_14", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_14.hdf5", + "verdict": "fail", + "onset": 3.121631, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the middle empty slot on the rack.\nObservation: the left gripper released and slipped the vial while moving towards the rack\nResult: the left gripper failed to move the vial to the rack", + "avoidance": "Close the left gripper tightly while moving the vial." + }, + { + "sample": "pick_vial_place_middle_slot_episode_15", + "task_id": "pick_vial_place_middle_slot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_middle_slot/episode_15.hdf5", + "verdict": "fail", + "onset": 8.16, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the vial in the middle empty slot.\nObservation: the left gripper failed to open to release the vial\nResult: the left gripper failed to release the vial", + "avoidance": "Open the left gripper to release" + }, + { + "sample": "pick_vial_place_right_slot_episode_0", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_right_slot_episode_1", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_right_slot_episode_2", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pick_vial_place_right_slot_episode_3", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_3.hdf5", + "verdict": "fail", + "onset": 2.223999, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The left gripper was extended instead of the right gripper, causing a misalignment during the grasp attempt.\nResult: Used the wrong gripper; used the left gripper, not the right gripper, to grasp the vial.", + "avoidance": "Needs to use the right gripper to grasp the vial." + }, + { + "sample": "pick_vial_place_right_slot_episode_4", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_4.hdf5", + "verdict": "fail", + "onset": 2.613052, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The right gripper approached and attempted to grasp the pen instead of the vial.\nResult: The right gripper failed to grasp the vial.", + "avoidance": "Move the right arm to approach and align with the vial instead of the pen." + }, + { + "sample": "pick_vial_place_right_slot_episode_6", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_6.hdf5", + "verdict": "fail", + "onset": 2.328157, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the vial.\nObservation: The right gripper incorrectly targeted the pen instead of the vial.\nResult: The right gripper picked up the pen.", + "avoidance": "The right gripper needs to pick up the vial." + }, + { + "sample": "pick_vial_place_right_slot_episode_13", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_13.hdf5", + "verdict": "fail", + "onset": 3.791999, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the vial.\nObservation: The right gripper failed to close sufficiently to grasp the vial.\nResult: The right gripper failed to grasp and move the vial to the rack.", + "avoidance": "Close the right gripper tightly when grasping the vial." + }, + { + "sample": "pick_vial_place_right_slot_episode_14", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_14.hdf5", + "verdict": "fail", + "onset": 2.973638, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the right empty slot on the rack.\nObservation: the right gripper slipped the vial while moving to the empty slot on the rack.\nResult: the right gripper failed to move and place the vial to the empty slot on the rack.", + "avoidance": "Close the right gripper tightly while moving" + }, + { + "sample": "pick_vial_place_right_slot_episode_15", + "task_id": "pick_vial_place_right_slot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pick_vial_place_right_slot/episode_15.hdf5", + "verdict": "fail", + "onset": 6.88, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the vial in the right empty slot on the rack.\nObservation: The right gripper failed to open fully to release the vial during placement.\nResult: The right gripper failed to release the vial.", + "avoidance": "Open the right gripper to release" + }, + { + "sample": "place_block_into_drawer_episode_4", + "task_id": "place_block_into_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_block_into_drawer/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "place_cube_pot_lid_episode_0", + "task_id": "place_cube_pot_lid", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_cube_pot_lid_episode_1", + "task_id": "place_cube_pot_lid", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_cube_pot_lid_episode_2", + "task_id": "place_cube_pot_lid", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_cube_pot_lid_episode_3", + "task_id": "place_cube_pot_lid", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_3.hdf5", + "verdict": "fail", + "onset": 2.099842, + "type": [ + "wrong_sequence", + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The right gripper is incorrectly targeting the pot lid instead of the blue cube first.\nResult: The right gripper failed to approach and grasp the blue cube.", + "avoidance": "Move the right gripper to approach and grasp the blue cube first before targeting the lid." + }, + { + "sample": "place_cube_pot_lid_episode_4", + "task_id": "place_cube_pot_lid", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_4.hdf5", + "verdict": "fail", + "onset": 1.883052, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The left gripper attempted to grasp the blue cube instead of the planned right gripper.\nResult: The right gripper failed to approach and grasp the blue cube.", + "avoidance": "Move the right arm instead of left arm to align with the blue cube." + }, + { + "sample": "place_cube_pot_lid_episode_6", + "task_id": "place_cube_pot_lid", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_6.hdf5", + "verdict": "fail", + "onset": 2.979473, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to align with the blue cube.\nObservation: The left gripper attempted to grasp the blue cube instead of the right gripper.\nResult: The right gripper failed to approach and grasp the blue cube.", + "avoidance": "Move the right arm instead of the left to align with the blue cube." + }, + { + "sample": "place_cube_pot_lid_episode_12", + "task_id": "place_cube_pot_lid", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_12.hdf5", + "verdict": "fail", + "onset": 9.8675225, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to align with the lid.\nObservation: The right gripper approached the lid with its orientation misaligned relative to the lid handle, causing a collision with the handle.\nResult: The right gripper failed to grasp and move the lid.", + "avoidance": "Rotate the right gripper clockwise." + }, + { + "sample": "place_cube_pot_lid_episode_15", + "task_id": "place_cube_pot_lid", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/place_cube_pot_lid/episode_15.hdf5", + "verdict": "fail", + "onset": 9.8, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the lid on top of the pot.\nObservation: the right gripper failed to open and release the lid while positioned over the pot \nResult: the lid remained clamped and did not settle onto the pot", + "avoidance": "Open the right gripper" + }, + { + "sample": "place_doll_stapler_swap_episode_0", + "task_id": "place_doll_stapler_swap", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_doll_stapler_swap_episode_1", + "task_id": "place_doll_stapler_swap", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_doll_stapler_swap_episode_2", + "task_id": "place_doll_stapler_swap", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_doll_stapler_swap_episode_3", + "task_id": "place_doll_stapler_swap", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_3.hdf5", + "verdict": "fail", + "onset": 4.603421, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the green plate.\nObservation: The left gripper placed the doll on the blue plate instead of the green plate.\nResult: The left gripper failed to place the doll in the green plate.", + "avoidance": "Move the left arm to align with the green plate instead of the blue one." + }, + { + "sample": "place_doll_stapler_swap_episode_4", + "task_id": "place_doll_stapler_swap", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_4.hdf5", + "verdict": "fail", + "onset": 1.906631, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the white and blue doll.\nObservation: the left gripper incorrectly targeted the stapler instead of the doll\nResult: the left gripper failed to grasp the doll", + "avoidance": "The left gripper needs to grasp the doll." + }, + { + "sample": "place_doll_stapler_swap_episode_5", + "task_id": "place_doll_stapler_swap", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_5.hdf5", + "verdict": "fail", + "onset": 5.302311, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align the stapler.\nObservation: The left gripper grasped and placed the stapler on the blue plate.\nResult: Used the wrong arm; used the left gripper, not the right gripper, to grasp the stapler.", + "avoidance": "needs to use the right arm to grasp the stapler" + }, + { + "sample": "place_doll_stapler_swap_episode_6", + "task_id": "place_doll_stapler_swap", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_6.hdf5", + "verdict": "fail", + "onset": 7.922317, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the blue plate.\nObservation: The right gripper with the stapler was aligned with the green plate instead of the blue plate.\nResult: The stapler was placed onto the incorrect plate.", + "avoidance": "Move the right arm to align with the blue plate instead of the green plate." + }, + { + "sample": "place_doll_stapler_swap_episode_13", + "task_id": "place_doll_stapler_swap", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_13.hdf5", + "verdict": "fail", + "onset": 6.624631, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the stapler with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the stapler\nResult: the right gripper failed to grasp the stapler", + "avoidance": "Close the right gripper sufficiently to secure the stapler." + }, + { + "sample": "place_doll_stapler_swap_episode_14", + "task_id": "place_doll_stapler_swap", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_doll_stapler_swap/episode_14.hdf5", + "verdict": "fail", + "onset": 3.577, + "type": [ + "open_error" + ], + "reason": "Expected: Release the left gripper to place the doll into the green plate.\nObservation: The left gripper failed to open despite being positioned over the green plate, preventing the doll from being released.\nResult: The left gripper did not open, failing to place the doll on the green plate.", + "avoidance": "Open the left gripper to release the doll." + }, + { + "sample": "place_duck_on_block_episode_0", + "task_id": "place_duck_on_block", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_duck_on_block_episode_2", + "task_id": "place_duck_on_block", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_2.hdf5", + "verdict": "fail", + "onset": 5.774244, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green duck.\nObservation: The left gripper approached the green duck, offset slightly to the right.\nResult: The left gripper failed to grasp the green duck.", + "avoidance": "Move the left gripper to the left slightly." + }, + { + "sample": "place_duck_on_block_episode_5", + "task_id": "place_duck_on_block", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_5.hdf5", + "verdict": "fail", + "onset": 5.252413, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green duck.\nObservation: the left gripper failed to close with sufficient force to grasp the green duck \nResult: the duck was not lifted, preventing placement on the green block.", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "place_duck_on_block_episode_8", + "task_id": "place_duck_on_block", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_8.hdf5", + "verdict": "fail", + "onset": 5.60971, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the green duck during the alignment phase\nResult: the duck is dropped onto the table instead of being placed on the green block.", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "place_duck_on_block_episode_9", + "task_id": "place_duck_on_block", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_9.hdf5", + "verdict": "fail", + "onset": 10.165235, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper was positioned slightly to the left\nResult: the left gripper failed to place the green duck on the green cube", + "avoidance": "Move the left gripper slightly to the right before releasing." + }, + { + "sample": "place_duck_on_block_episode_11", + "task_id": "place_duck_on_block", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_11.hdf5", + "verdict": "fail", + "onset": 9.521052, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: The left gripper placed the green duck slightly forward of the green block.\nResult: The left gripper failed to place the green duck on top of the green block.", + "avoidance": "Move the left gripper slightly backward." + }, + { + "sample": "place_duck_on_block_episode_12", + "task_id": "place_duck_on_block", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_12.hdf5", + "verdict": "fail", + "onset": 8.239426, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper approached the green block offset slightly to the left during the approach to the green block.\nResult: The duck was placed on the table rather than on top of the green block.", + "avoidance": "Move the left arm to the right and align it with the green block before grasping." + }, + { + "sample": "place_duck_on_block_episode_14", + "task_id": "place_duck_on_block", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_14.hdf5", + "verdict": "fail", + "onset": 3.652367, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the green duck.\nObservation: The left gripper grasped the orange duck instead of the green duck.\nResult: The left gripper failed to grasp the green duck.", + "avoidance": "The left gripper needs to grasp the green duck." + }, + { + "sample": "place_duck_on_block_episode_15", + "task_id": "place_duck_on_block", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/place_duck_on_block/episode_15.hdf5", + "verdict": "fail", + "onset": 9.779052, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: The left gripper placed the green duck on top of the blue block.\nResult: The left gripper failed to put the green duck on top of the green block.", + "avoidance": "Move the left arm to align with the green block instead of the blue one." + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_0", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_1", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_2", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_3", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 2.887194, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the green duck.\nObservation: The right gripper selected and picked up the orange duck instead of the green duck during the approach phase\nResult: The green duck was not grasped", + "avoidance": "The right gripper should align with the green duck" + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_4", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_4.hdf5", + "verdict": "fail", + "onset": 6.248051, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: The right gripper placed the green duck on the white plate instead of the red pot.\nResult: The right gripper failed to place the green duck into the red pot.", + "avoidance": "The right gripper needs to place the green duck into the red pot." + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_5", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 2.572315, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the green duck.\nObservation: The right gripper grasped the orange duck and put it into the red pot.\nResult: The green duck is not grasped by the right gripper.", + "avoidance": "Move the right gripper to approach and align with the green duck." + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_6", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_6.hdf5", + "verdict": "fail", + "onset": 5.81642, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: The right gripper placed the green duck on the white plate instead of the red pot.\nResult: The right gripper failed to place the green duck into the red pot.", + "avoidance": "The right gripper needs to place the green duck into the red pot." + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_13", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_13.hdf5", + "verdict": "fail", + "onset": 4.40126, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green duck.\nObservation: the right gripper failed to close with sufficient force to grasp the green duck.\nResult: The right gripper did not pick the green duck up and put it into the red pot.", + "avoidance": "The right gripper grasps the green duck with greater force." + }, + { + "sample": "place_green_duck_from_drawer_to_pot_episode_14", + "task_id": "place_green_duck_from_drawer_to_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_green_duck_from_drawer_to_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 5.718313, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green duck.\nObservation: The right gripper failed to maintain a secure grasp on the green duck during the transfer.\nResult: The right gripper failed to place the green duck into the red pot.", + "avoidance": "Close the right gripper while moving." + }, + { + "sample": "place_knife_in_drawer_episode_0", + "task_id": "place_knife_in_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_knife_in_drawer_episode_1", + "task_id": "place_knife_in_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_knife_in_drawer_episode_2", + "task_id": "place_knife_in_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_knife_in_drawer_episode_3", + "task_id": "place_knife_in_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 6.973684, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: The right gripper is placing the green knife into the lower teal drawer instead of the intended open top yellow drawer.\nResult: The right gripper failed to place the knife in the top open drawer.", + "avoidance": "Move the right arm to align with the open top drawer instead of the bottom." + }, + { + "sample": "place_knife_in_drawer_episode_4", + "task_id": "place_knife_in_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_4.hdf5", + "verdict": "fail", + "onset": 2.638179, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the green plastic knife.\nObservation: the right gripper incorrectly selected and picked up the green block instead of the green plastic knife during the approach phase\nResult: The block was grasped and moved to the drawer instead of the knife.", + "avoidance": "Move the right arm to approach and align with the green plastic knife instead of the green block." + }, + { + "sample": "place_knife_in_drawer_episode_5", + "task_id": "place_knife_in_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 2.660368, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the green plastic knife.\nObservation: The right gripper incorrectly selected and picked up the red marker instead of the green plastic knife.\nResult: The right gripper failed to grasp the green plastic knife.", + "avoidance": "Move the right arm to approach and align with the green plastic knife instead of the marker." + }, + { + "sample": "place_knife_in_drawer_episode_6", + "task_id": "place_knife_in_drawer", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_6.hdf5", + "verdict": "fail", + "onset": 7.899998, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: The right gripper misdirected the green knife toward the white basket instead of the open top drawer.\nResult: The right gripper failed to place the green plastic knife into the open top drawer.", + "avoidance": "Move the right arm to align with the open top drawer instead of the basket." + }, + { + "sample": "place_knife_in_drawer_episode_13", + "task_id": "place_knife_in_drawer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_13.hdf5", + "verdict": "fail", + "onset": 4.951578, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green plastic knife.\nObservation: The right gripper failed to close and grasp the green plastic knife.\nResult: The green plastic knife was not put into the top drawer.", + "avoidance": "Make the right gripper close tightly to grasp the green plastic knife." + }, + { + "sample": "place_knife_in_drawer_episode_14", + "task_id": "place_knife_in_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_knife_in_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 4.979661, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the open top drawer.\nObservation: the right gripper failed to maintain a secure grasp on the green plastic knife during the lifting phase.\nResult: the knife slipped and fell back onto the table", + "avoidance": "Close the right gripper" + }, + { + "sample": "place_pen_in_drawer_episode_0", + "task_id": "place_pen_in_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_pen_in_drawer_episode_1", + "task_id": "place_pen_in_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_pen_in_drawer_episode_2", + "task_id": "place_pen_in_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_pen_in_drawer_episode_3", + "task_id": "place_pen_in_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 2.777842, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the pen.\nObservation: the left gripper incorrectly selected and placed the remote control instead of the pen.\nResult: the left gripper failed to grasp the pen.", + "avoidance": "The left gripper needs to grasp the pen." + }, + { + "sample": "place_pen_in_drawer_episode_4", + "task_id": "place_pen_in_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_4.hdf5", + "verdict": "fail", + "onset": 1.692789, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the pen.\nObservation: the left arm incorrectly selected and moved the mouse instead of the pen\nResult: the left gripper failed to grasp the mouse", + "avoidance": "Move the left arm to approach and align with the pen instead of the mouse." + }, + { + "sample": "place_pen_in_drawer_episode_5", + "task_id": "place_pen_in_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 4.582877, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the open drawer.\nObservation: the left gripper placed the pen on the plate instead of in the open drawer.\nResult: the left gripper failed to move and place the pen into the open drawer.", + "avoidance": "Move the left arm to align with the open drawer instead of the plate." + }, + { + "sample": "place_pen_in_drawer_episode_13", + "task_id": "place_pen_in_drawer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_13.hdf5", + "verdict": "fail", + "onset": 2.810286, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the pen.\nObservation: The left gripper was not closed enough to grasp the pen.\nResult: The left gripper failed to grasp the pen.", + "avoidance": "Close the left gripper to grasp the pen." + }, + { + "sample": "place_pen_in_drawer_episode_15", + "task_id": "place_pen_in_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/place_pen_in_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 4.934315, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the open drawer.\nObservation: the left gripper released and dropped the pen while moving to the open drawer.\nResult: the left gripper failed to move and place the pen to the open drawer.", + "avoidance": "Close the right gripper tightly while moving." + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_0", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_1", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_2", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_3", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_3.hdf5", + "verdict": "fail", + "onset": 2.932657, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: the left gripper incorrectly selected and moved the orange toy instead of the green spoon.\nResult: the left gripper failed to select the green spoon", + "avoidance": "Move the left arm to approach and align the green spoon instead of the orange toy." + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_4", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_4.hdf5", + "verdict": "fail", + "onset": 3.34063, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: the left arm incorrectly grasped the orange toy instead of the green spoon\nResult: the left arm failed to approach and grasp the green spoon.", + "avoidance": "Move the left arm to approach and align the green spoon instead of the orange toy." + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_5", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_5.hdf5", + "verdict": "fail", + "onset": 6.855071, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the green spoon onto the white plate instead of into the red pot.\nResult: The left gripper failed to place the green spoon into the red pot.", + "avoidance": "Move the left arm to align with the red pot instead of the plate." + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_8", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_8.hdf5", + "verdict": "fail", + "onset": 4.316837, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green spoon.\nObservation: The left gripper approached the green spoon, offset slightly to the left and slightly backward, with its orientation misaligned relative to the green spoon.\nResult: The left gripper failed to grasp the green spoon.", + "avoidance": "Move the left gripper slightly to the right and forward, and rotate the left gripper clockwise before grasping." + }, + { + "sample": "place_spoon_into_pot_cover_lid_episode_14", + "task_id": "place_spoon_into_pot_cover_lid", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_spoon_into_pot_cover_lid/episode_14.hdf5", + "verdict": "fail", + "onset": 6.6083155, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: the left gripper failed to close and secure the green spoon during the alignment phase\nResult: the spoon was dropped and while aligning with the red pot", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "place_spoon_on_plate_episode_0", + "task_id": "place_spoon_on_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_on_plate_episode_1", + "task_id": "place_spoon_on_plate", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_on_plate_episode_2", + "task_id": "place_spoon_on_plate", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "place_spoon_on_plate_episode_3", + "task_id": "place_spoon_on_plate", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_3.hdf5", + "verdict": "fail", + "onset": 4.423263, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the purple plate.\nObservation: The left gripper incorrectly placed the spoon into the drawer instead of aligning it with the purple plate.\nResult: The left gripper failed to put the spoon into the purple plate.", + "avoidance": "Move the left arm to align with the purple plate instead of the drawer." + }, + { + "sample": "place_spoon_on_plate_episode_4", + "task_id": "place_spoon_on_plate", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_4.hdf5", + "verdict": "fail", + "onset": 2.634482, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the spoon.\nObservation: the right gripper incorrectly selected and placed the mouse onto the plate instead of the spoon, violating the object selection plan during the alignment subtask\nResult: the intended object (spoon) remained untouched and the plate was misused.", + "avoidance": "The gripper should approach and align with the spoon." + }, + { + "sample": "place_spoon_on_plate_episode_6", + "task_id": "place_spoon_on_plate", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_6.hdf5", + "verdict": "fail", + "onset": 2.558313, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the spoon.\nObservation: The left gripper incorrectly selected and manipulated the red cube instead of the spoon.\nResult: The left gripper failed to grasp the spoon.", + "avoidance": "The left gripper needs to grasp the spoon." + }, + { + "sample": "place_spoon_on_plate_episode_14", + "task_id": "place_spoon_on_plate", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_14.hdf5", + "verdict": "fail", + "onset": 4.536842, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the spoon.\nObservation: The left gripper failed to close sufficiently to grasp the spoon.\nResult: The left gripper failed to grasp and move the spoon.", + "avoidance": "Close the left gripper tightly when grasping the spoon." + }, + { + "sample": "place_spoon_on_plate_episode_15", + "task_id": "place_spoon_on_plate", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/place_spoon_on_plate/episode_15.hdf5", + "verdict": "fail", + "onset": 5.883573, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the purple plate.\nObservation: the left gripper failed to maintain a secure grasp on the spoon during the alignment phase, causing it to drop.\nResult: the gripper failed to place the spoon onto the purple plate.", + "avoidance": "Close the left gripper tightly to secure the spoon during movement." + }, + { + "sample": "pour_cubes_into_box_episode_0", + "task_id": "pour_cubes_into_box", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pour_cubes_into_box_episode_1", + "task_id": "pour_cubes_into_box", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pour_cubes_into_box_episode_2", + "task_id": "pour_cubes_into_box", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pour_cubes_into_box_episode_4", + "task_id": "pour_cubes_into_box", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_4.hdf5", + "verdict": "fail", + "onset": 4.894946, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the yellow box.\nObservation: the right gripper misaligned its pouring trajectory, targeting the white basket instead of the yellow box\nResult: the right gripper did not put the cube into the yellow box", + "avoidance": "The right gripper needs to put the cube into the yellow box." + }, + { + "sample": "pour_cubes_into_box_episode_6", + "task_id": "pour_cubes_into_box", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_6.hdf5", + "verdict": "fail", + "onset": 2.306526, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the cup with cubes.\nObservation: The right gripper incorrectly selected and lifted the empty cup instead of the cup containing cubes.\nResult: The right gripper failed to move and align with the cup with cubes.", + "avoidance": "Move the right arm to approach and align with the cup with the cube instead of the empty cup." + }, + { + "sample": "pour_cubes_into_box_episode_13", + "task_id": "pour_cubes_into_box", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_13.hdf5", + "verdict": "fail", + "onset": 6.403157, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the cup.\nObservation: The right gripper failed to close sufficiently to securely grasp the cup.\nResult: The right arm failed to grasp the cup.", + "avoidance": "Close the right gripper sufficiently to grasp the cup." + }, + { + "sample": "pour_cubes_into_box_episode_15", + "task_id": "pour_cubes_into_box", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pour_cubes_into_box/episode_15.hdf5", + "verdict": "fail", + "onset": 7.112827, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the yellow box.\nObservation: he right gripper failed to maintain a secure grasp on the cup during the alignment phase with the yellow box\nResult: the cubes and cup were dropped onto the table, halting subsequent tasks", + "avoidance": "Close the right gripper tightly when moving the cup." + }, + { + "sample": "pour_sausage_into_basket_episode_0", + "task_id": "pour_sausage_into_basket", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_basket_episode_1", + "task_id": "pour_sausage_into_basket", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_basket_episode_2", + "task_id": "pour_sausage_into_basket", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_basket_episode_3", + "task_id": "pour_sausage_into_basket", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_3.hdf5", + "verdict": "fail", + "onset": 3.572855, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the white basket.\nObservation: The left gripper misaligned its pouring target, targeting the pink bowl instead of the white basket.\nResult: The sausages were deposited in the wrong container.", + "avoidance": "Move the left arm to align with the white basket instead of the pink bowl." + }, + { + "sample": "pour_sausage_into_basket_episode_4", + "task_id": "pour_sausage_into_basket", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_4.hdf5", + "verdict": "fail", + "onset": 1.713263, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The right arm erroneously initiated the approach to the green plate, instead of the designated left arm. Result: The left arm failed to move and grasp the plate.", + "avoidance": "Move the left arm instead of the right one to approach and align with the plate containing sausages." + }, + { + "sample": "pour_sausage_into_basket_episode_5", + "task_id": "pour_sausage_into_basket", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_5.hdf5", + "verdict": "fail", + "onset": 2.275155, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The right arm erroneously initiated the approach to the green plate, instead of the designated left arm.\nResult: The left gripper failed to approach and grasp the plate.", + "avoidance": "Move the left arm instead of the right to approach and align with the plate containing sausages." + }, + { + "sample": "pour_sausage_into_basket_episode_6", + "task_id": "pour_sausage_into_basket", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_basket_episode_7", + "task_id": "pour_sausage_into_basket", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_7.hdf5", + "verdict": "fail", + "onset": 4.243577, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the white basket.\nObservation: the left arm misaligned its pouring trajectory, targeting the pink bowl instead of the white basket \nResult: the sausages were deposited in the wrong container.", + "avoidance": "Move the left arm to align with the white basket instead of the pink bowl." + }, + { + "sample": "pour_sausage_into_basket_episode_14", + "task_id": "pour_sausage_into_basket", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_basket/episode_14.hdf5", + "verdict": "fail", + "onset": 2.468999, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align with the plate containing sausages.\nObservation: The left gripper failed to open (transition to the open state) after aligning with the green plate.\nResult: The left gripper failed to grasp the plate rim.", + "avoidance": "Open the left gripper before grasping the plate rim." + }, + { + "sample": "pour_sausage_into_bowl_episode_0", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_bowl_episode_1", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_bowl_episode_2", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pour_sausage_into_bowl_episode_4", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_4.hdf5", + "verdict": "fail", + "onset": 5.293526, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: the right gripper poured the sausages into the basket instead of the pink bowl.\nResult: the right gripper failed to pour the sausages from the plate into the pink bowl.", + "avoidance": "Move the right arm to align with the pink bowl instead of the basket." + }, + { + "sample": "pour_sausage_into_bowl_episode_5", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_5.hdf5", + "verdict": "fail", + "onset": 5.092861, + "type": [ + "wrong_object", + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the pink bowl.\nObservation: The right arm poured the sausages into the blue bowl instead of the pink bowl.\nResult: The right arm failed to pour the sausages from the plate into the pink bowl.", + "avoidance": "The right arm should align the blue plate with the pink bowl." + }, + { + "sample": "pour_sausage_into_bowl_episode_6", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_6.hdf5", + "verdict": "fail", + "onset": 3.74021, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the plate containing sausages.\nObservation: The left gripper, instead of the planned right arm, was mistakenly used to grasp the plate containing sausages.\nResult: The right gripper failed to grasp the plate with sausages.", + "avoidance": "Move the right arm instead of the left arm to approach and align with the plate containing sausages." + }, + { + "sample": "pour_sausage_into_bowl_episode_10", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_10.hdf5", + "verdict": "fail", + "onset": 8.563684, + "type": [ + "orientation_error", + "wrong_sequence" + ], + "reason": "Expected: Tilt the plate to pour the sausages into the pink bowl.\nObservation: The right gripper hovers above the pink bowl, stationary and tilted, failing to complete the pouring action, and the sausages remain on the plate.\nResult: The right gripper failed to pour the sausages into the pink bowl.", + "avoidance": "Rotate the right gripper counterclockwise to pour the sausages into the pink bowl." + }, + { + "sample": "pour_sausage_into_bowl_episode_13", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_13.hdf5", + "verdict": "fail", + "onset": 3.043894, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the plate with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the plate\nResult: the right gripper failed to grasp the plate", + "avoidance": "Close the right gripper tightly to secure the plate edge." + }, + { + "sample": "pour_sausage_into_bowl_episode_14", + "task_id": "pour_sausage_into_bowl", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_bowl/episode_14.hdf5", + "verdict": "fail", + "onset": 3.477944, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the plate containing sausages.\nObservation: The right gripper did not open during the grasping subtask, causing it to collide with the plate.\nResult: The plate was never lifted, and the pouring action could not be initiated.", + "avoidance": "Open the right gripper before grasping." + }, + { + "sample": "pour_sausage_into_pot_episode_0", + "task_id": "pour_sausage_into_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pour_sausage_into_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_0", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_3", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_4", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_6", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_7", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_8", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_9", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_11", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_12", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_13", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_14", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_15", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_16", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_17", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_18", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_19", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_20", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_21", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_22", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_23", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pour_water_transparent_cup_ep1_episode_24", + "task_id": "pour_water_transparent_cup_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pour_water_transparent_cup_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_0", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_3", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_4", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_5", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_6", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_7", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_8", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_9", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_14", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_15", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_17", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_18", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_19", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_20", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_21", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_22", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_23", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_can_ep1_episode_24", + "task_id": "pull_bottom_drawer_put_can_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_can_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_0", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_1", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_2", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_3", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 3.977489, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the bottom drawer.\nObservation: the right gripper pulled the middle drawer instead of the bottom one,\nResult: the planned sequence to retrieve the duck from the bottom drawer was violated.", + "avoidance": "Move the right arm to align with the bottom drawer instead of the middle drawer." + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_4", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_4.hdf5", + "verdict": "fail", + "onset": 4.672714, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to align with the bottom drawer.\nObservation: The right gripper incorrectly targeted and pulled the middle yellow drawer instead of the bottom one, violating the execution order.\nResult: The intended object (orange duck) remained inaccessible", + "avoidance": "The right gripper should approach and align with the bottom drawer instead of the middle drawer." + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_5", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 17.017578, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the orange duck on the white plate instead of the red pot.\nResult: The left gripper failed to put the orange duck into the red pot.", + "avoidance": "Move the left arm to align with the red pot instead of the white plate." + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_6", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_6.hdf5", + "verdict": "fail", + "onset": 16.883368, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper placed the orange duck on the white plate instead of in the red pot.\nResult: The left gripper failed to move the duck to the red pot.", + "avoidance": "Move the left arm to align with the red pot instead of the white plate." + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_14", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 5.072105, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the orange duck.\nObservation: he left gripper failed to close sufficiently to grasp the orange duck\nResult: the left gripper failed to grasp the orange duck", + "avoidance": "Close the left gripper sufficiently to grasp the orange duck." + }, + { + "sample": "pull_bottom_drawer_put_duck_into_pot_episode_15", + "task_id": "pull_bottom_drawer_put_duck_into_pot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pull_bottom_drawer_put_duck_into_pot/episode_15.hdf5", + "verdict": "fail", + "onset": 6.130365, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the red pot.\nObservation: The left gripper failed to close tightly, causing the orange duck to fall during the task.\nResult: The left gripper failed to place the orange duck into the red pot.", + "avoidance": "Close the left gripper while moving." + }, + { + "sample": "pull_open_bottom_drawer_episode_0", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "pull_open_bottom_drawer_episode_1", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "pull_open_bottom_drawer_episode_2", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "pull_open_bottom_drawer_episode_3", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 2.60619, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The left arm erroneously initiated the approach to the bottom drawer handle, instead of the designated right arm.\nResult: Used the wrong arm; used the left arm, not the right arm, to grasp the bottom drawer handle.", + "avoidance": "needs to use the right gripper to grasp the bottom drawer handle" + }, + { + "sample": "pull_open_bottom_drawer_episode_4", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_4.hdf5", + "verdict": "fail", + "onset": 2.253052, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The right gripper approached and grasped the top drawer handle instead of the bottom one.\nResult: The right gripper failed to align with and grasp the bottom drawer handle.", + "avoidance": "The right gripper needs to grasp the bottom drawer handle." + }, + { + "sample": "pull_open_bottom_drawer_episode_6", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_6.hdf5", + "verdict": "fail", + "onset": 2.265263, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The left arm erroneously initiated the approach to the top drawer handle, instead of the designated right arm.\nResult: The right arm failed to approach and grasp the bottom drawer handle.", + "avoidance": "Move the right arm instead of the left arm to approach and align with the bottom drawer handle." + }, + { + "sample": "pull_open_bottom_drawer_episode_11", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_11.hdf5", + "verdict": "fail", + "onset": 3.608421, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: the right gripper approached the bottom drawer handle with its orientation misaligned relative to the bottom drawer handle\nResult: the right gripper failed to align with and grasp the bottom drawer handle", + "avoidance": "Rotate the right gripper counterclockwise before grasping." + }, + { + "sample": "pull_open_bottom_drawer_episode_14", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 2.74615, + "type": [ + "open_error" + ], + "reason": "Expected: Move the right arm to approach and align with the bottom drawer handle.\nObservation: The right gripper failed to open before aligning with the drawer handle, colliding with the drawer handle despite correct alignment.\nResult: The right gripper failed to grasp the drawer handle.", + "avoidance": "Open the right gripper to grasp the drawer handle." + }, + { + "sample": "pull_open_bottom_drawer_episode_15", + "task_id": "pull_open_bottom_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/pull_open_bottom_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 5.039995, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the drawer handle with the right arm.\nObservation: the right gripper failed to close sufficiently to grasp the drawer handle.\nResult: the gripper failed to pull the drawer.", + "avoidance": "Close the right gripper tightly to grasp the drawer handle when grasping." + }, + { + "sample": "pull_open_drawer_episode_30", + "task_id": "pull_open_drawer", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/pull_open_drawer/episode_30.hdf5", + "verdict": "success" + }, + { + "sample": "push_middle_drawer_episode_0", + "task_id": "push_middle_drawer", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "push_middle_drawer_episode_1", + "task_id": "push_middle_drawer", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "push_middle_drawer_episode_2", + "task_id": "push_middle_drawer", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "push_middle_drawer_episode_3", + "task_id": "push_middle_drawer", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_3.hdf5", + "verdict": "fail", + "onset": 2.073684, + "type": [ + "translation_error", + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The left arm pushed and closed the bottom drawer instead of the middle drawer, which is offset significantly downward.\nResult: The left arm failed to align with the middle drawer to push and close it.", + "avoidance": "The left arm should move upward to align with the middle drawer to push and close it." + }, + { + "sample": "push_middle_drawer_episode_4", + "task_id": "push_middle_drawer", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_4.hdf5", + "verdict": "fail", + "onset": 2.308045, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The right gripper, not the left, was positioned to interact with the middle drawer handle.\nResult: The correct arm was not engaged, leading to task abortion.", + "avoidance": "Use the left gripper to close the middle drawer." + }, + { + "sample": "push_middle_drawer_episode_5", + "task_id": "push_middle_drawer", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_5.hdf5", + "verdict": "fail", + "onset": 1.582841, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the middle drawer handle.\nObservation: The left gripper erroneously targeted and aligned with the top drawer handle, instead of the intended middle drawer handle.\nResult: The gripper approached the wrong handle, violating the task plan sequence.", + "avoidance": "Move the left arm to approach and align with the middle drawer handle instead of the top one." + }, + { + "sample": "push_middle_drawer_episode_13", + "task_id": "push_middle_drawer", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_13.hdf5", + "verdict": "fail", + "onset": 13.4, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: the left gripper did not release after pushing the middle drawer.\nResult: the left gripper did not release after pushing the middle drawer.", + "avoidance": "Release the left gripper after the middle drawer is closed." + }, + { + "sample": "push_middle_drawer_episode_14", + "task_id": "push_middle_drawer", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_14.hdf5", + "verdict": "fail", + "onset": 10.92, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: The left gripper did not release after pushing the middle drawer.\nResult: The left gripper kept holding the drawer handle.", + "avoidance": "Open the left gripper after pushing the drawer." + }, + { + "sample": "push_middle_drawer_episode_15", + "task_id": "push_middle_drawer", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/push_middle_drawer/episode_15.hdf5", + "verdict": "fail", + "onset": 8.2, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper and move the left arm away from the drawer.\nObservation: The left gripper did not release after pushing the middle drawer, preventing arm retraction.\nResult: The left gripper failed to release the drawer handle after closing the drawer.", + "avoidance": "Open the left gripper to release the drawer handle." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_0", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_1", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_2", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_3", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_3.hdf5", + "verdict": "fail", + "onset": 4.018372, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the transparent box.\nObservation: the right gripper misaligned its target, placing the eraser into the basket instead of the transparent box during the alignment subtask\nResult: the object was deposited in the wrong container", + "avoidance": "Move the right arm to align with the transparent box instead of the basket." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_4", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_4.hdf5", + "verdict": "fail", + "onset": 4.080993, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the transparent box.\nObservation: the right gripper incorrectly placed the blackboard eraser onto the blue plate instead of the transparent box\nResult: the eraser was mispositioned, violating the taskgoal", + "avoidance": "Move the right arm to align with the transparent box instead of the blue plate." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_5", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_5.hdf5", + "verdict": "fail", + "onset": 1.648052, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the blackboard eraser.\nObservation: The right gripper incorrectly targeted the red marker instead of the blackboard eraser.\nResult: The right gripper failed to grab the blackboard eraser.", + "avoidance": "Move the right arm to approach and align with the blackboard eraser instead of the marker." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_6", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_6.hdf5", + "verdict": "fail", + "onset": 1.79221, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the blackboard eraser.\nObservation: The right gripper incorrectly targeted and picked up the orange object instead of the blackboard eraser.\nResult: The right gripper failed to grasp the blackboard eraser.", + "avoidance": "Move the right arm to approach and align with the blackboard eraser instead of the orange object." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_13", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_13.hdf5", + "verdict": "fail", + "onset": 6.986315, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the transparent box.\nObservation: The right gripper released and slipped the blackboard eraser while moving.\nResult: The right gripper failed to move the blackboard eraser to the transparent box.", + "avoidance": "Close the right gripper tightly to secure the eraser while moving." + }, + { + "sample": "put_blackboard_eraser_in_transparent_box_episode_14", + "task_id": "put_blackboard_eraser_in_transparent_box", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/put_blackboard_eraser_in_transparent_box/episode_14.hdf5", + "verdict": "fail", + "onset": 4.575893, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the blackboard eraser.\nObservation: The right gripper failed to fully close to grasp the blackboard eraser.\nResult: The right gripper failed to lift the blackboard eraser.", + "avoidance": "Close the right gripper before lifting." + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_0", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_1", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_2", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_3", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_4", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_5", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_6", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_8", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_9", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_9.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_10", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_11", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_12", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_13", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_14", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_14.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_15", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_16", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_18", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_19", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_20", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_21", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_21", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_21.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_22", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_22", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_22.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_23", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "put_doll_pink_plate_stapler_purple_plate_ep1_episode_24", + "task_id": "put_doll_pink_plate_stapler_purple_plate_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/put_doll_pink_plate_stapler_purple_plate_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_0", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_2", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_3", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_4", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_6", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_7", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_8", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_8.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_10", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_10.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_11", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_11.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_12", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_12.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_13", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_13", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_13.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_15", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_15.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_16", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_16", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_16.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_17", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_17", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_17.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_18", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_18", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_18.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_19", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_19.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_20", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_20", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_20.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_23", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_23", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_23.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_basket_from_tray_ep1_episode_24", + "task_id": "put_mouse_basket_from_tray_ep1", + "episode": "episode_24", + "robot": "agilex", + "hdf5": "episodes/put_mouse_basket_from_tray_ep1/episode_24.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_on_pot_episode_0", + "task_id": "put_mouse_on_pot", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_on_pot_episode_1", + "task_id": "put_mouse_on_pot", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_on_pot_episode_2", + "task_id": "put_mouse_on_pot", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_mouse_on_pot_episode_3", + "task_id": "put_mouse_on_pot", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_3.hdf5", + "verdict": "fail", + "onset": 4.398786, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper misaligned its target, placing the mouse into the white basket instead of the red pot \nResult: The mouse was misplaced into the wrong target", + "avoidance": "Move the right arm to align with the white basket." + }, + { + "sample": "put_mouse_on_pot_episode_4", + "task_id": "put_mouse_on_pot", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_4.hdf5", + "verdict": "fail", + "onset": 4.1216, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper misaligned its target, placing the mouse into the white basket instead of the red pot during the alignment subtask.\nResult: the mouse was misplaced, violating the task plan", + "avoidance": "Move the right arm to align with the red pot instead of the basket." + }, + { + "sample": "put_mouse_on_pot_episode_5", + "task_id": "put_mouse_on_pot", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_5.hdf5", + "verdict": "fail", + "onset": 1.719393, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the computer mouse.\nObservation: the right gripper incorrectly selected and manipulated the red cube instead of the computer mouse during the approach phase.\nResult: the mouse remained untouched while the cube was incorrectly grasped", + "avoidance": "Move the right arm to approach and align with the computer mouse instead of the red cube." + }, + { + "sample": "put_mouse_on_pot_episode_6", + "task_id": "put_mouse_on_pot", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_6.hdf5", + "verdict": "fail", + "onset": 1.451367, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the computer mouse.\nObservation: The right gripper incorrectly selected and grasped the plush toy instead of the computer mouse.\nResult: The right gripper failed to grasp the computer mouse.", + "avoidance": "Move the right arm to select the computer mouse instead of the plush toy." + }, + { + "sample": "put_mouse_on_pot_episode_14", + "task_id": "put_mouse_on_pot", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_14.hdf5", + "verdict": "fail", + "onset": 3.297, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper released and slipped the mouse when moving the mouse to the red pot\nResult: the right gripper failed to move the mouse to the red pot", + "avoidance": "Close the right gripper tightly while moving the mouse." + }, + { + "sample": "put_mouse_on_pot_episode_15", + "task_id": "put_mouse_on_pot", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/put_mouse_on_pot/episode_15.hdf5", + "verdict": "fail", + "onset": 3.957631, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the red pot.\nObservation: the right gripper released and dropped the mouse while moving to the red pot\nResult: the right gripper failed to move and place the mouse into the red pot.", + "avoidance": "Close the right gripper tightly while moving the mouse" + }, + { + "sample": "put_pen_in_basket_episode_0", + "task_id": "put_pen_in_basket", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_pen_in_basket_episode_1", + "task_id": "put_pen_in_basket", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_pen_in_basket_episode_2", + "task_id": "put_pen_in_basket", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_pen_in_basket_episode_3", + "task_id": "put_pen_in_basket", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_3.hdf5", + "verdict": "fail", + "onset": 2.089668, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: the right gripper selected and picked up the red marker instead of the black pen.\nResult: the right gripper failed to grasp the black pen.", + "avoidance": "Move the right arm instead of the left to approach and align the black pen." + }, + { + "sample": "put_pen_in_basket_episode_4", + "task_id": "put_pen_in_basket", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_4.hdf5", + "verdict": "fail", + "onset": 4.901714, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the basket.\nObservation: the right gripper misaligned its target, placing the pen on the plate instead of the basket.\nResult: the right gripper failed to release and place the black pen into the basket.", + "avoidance": "Move the right arm to align with the basket instead of the plate." + }, + { + "sample": "put_pen_in_basket_episode_5", + "task_id": "put_pen_in_basket", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_5.hdf5", + "verdict": "fail", + "onset": 1.809, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: The right gripper incorrectly selected and grasped the orange duck instead of the black pen.\nResult: The right gripper failed to grasp the black pen.", + "avoidance": "Move the right arm to approach and align the black pen instead of the orange duck." + }, + { + "sample": "put_pen_in_basket_episode_6", + "task_id": "put_pen_in_basket", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_6.hdf5", + "verdict": "fail", + "onset": 3.465421, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the right arm to align with the basket.\nObservation: The right gripper placed the black pen on the purple plate instead of in the basket.\nResult: The right gripper failed to place the black pen into the basket.", + "avoidance": "The right gripper needs to place the black pen into the basket." + }, + { + "sample": "put_pen_in_basket_episode_9", + "task_id": "put_pen_in_basket", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_9.hdf5", + "verdict": "fail", + "onset": 4.001463, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the right arm to approach and align the black pen.\nObservation: the right gripper approached and alignthe black pen with its orientation misaligned relative to the black pen.\nResult: the right gripper failed to grasp the black pen.", + "avoidance": "Rotate the right gripper clockwise 90 degrees." + }, + { + "sample": "put_pen_in_basket_episode_14", + "task_id": "put_pen_in_basket", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/put_pen_in_basket/episode_14.hdf5", + "verdict": "fail", + "onset": 3.385526, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the black pen.\nObservation: the right gripper failed to close sufficiently to grasp the black pen\nResult: the right gripper failed to grasp the black pen", + "avoidance": "Close the right gripper sufficiently to grasp the black pen." + }, + { + "sample": "put_stapler_blue_plate_episode_0", + "task_id": "put_stapler_blue_plate", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_blue_plate_episode_1", + "task_id": "put_stapler_blue_plate", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_blue_plate_episode_2", + "task_id": "put_stapler_blue_plate", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_blue_plate_episode_4", + "task_id": "put_stapler_blue_plate", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_4.hdf5", + "verdict": "fail", + "onset": 2.76642, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The left gripper incorrectly selected and manipulated the red cube instead of the blue stapler.\nResult: The left gripper failed to grasp the blue stapler.", + "avoidance": "The left gripper needs to grasp the blue stapler." + }, + { + "sample": "put_stapler_blue_plate_episode_5", + "task_id": "put_stapler_blue_plate", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_5.hdf5", + "verdict": "fail", + "onset": 2.437105, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The right arm erroneously initiated the approach to the blue stapler, instead of the designated left arm. Result: The left arm failed to approach and grasp the blue stapler.", + "avoidance": "Move the left arm instead of the right to approach and align the blue stapler." + }, + { + "sample": "put_stapler_blue_plate_episode_6", + "task_id": "put_stapler_blue_plate", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_6.hdf5", + "verdict": "fail", + "onset": 2.617315, + "type": [ + "wrong_gripper", + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The right arm was used to perform the grasp instead of the left arm. Moreover the wrong object was targeted.\nResult: An incorrect action was executed outside of the task plan.", + "avoidance": "Move the left arm to align with the stapler instead." + }, + { + "sample": "put_stapler_blue_plate_episode_12", + "task_id": "put_stapler_blue_plate", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_12.hdf5", + "verdict": "fail", + "onset": 2.956368, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue stapler.\nObservation: The left gripper approached the stapler with its orientation misaligned relative to the stapler.\nResult: The left gripper failed to grasp the stapler.", + "avoidance": "Rotate the left gripper counterclockwise." + }, + { + "sample": "put_stapler_blue_plate_episode_15", + "task_id": "put_stapler_blue_plate", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/put_stapler_blue_plate/episode_15.hdf5", + "verdict": "fail", + "onset": 4.6813695, + "type": [ + "open_error" + ], + "reason": "Expected: Release the gripper to place the blue stapler into the blue plate.\nObservation: the left gripper is hovering above the blue plate without releasing.\nResult: the left gripper failed to release the blue stapler into the blue plate.", + "avoidance": "Release the left gripper to place the blue stapler into the blue plate after alignment." + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_0", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_1", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_2", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_6", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_6.hdf5", + "verdict": "fail", + "onset": 3.769379, + "type": [ + "wrong_sequence", + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align with the handle of the top drawer.\nObservation: the right gripper targeted the lower drawer instead of the top drawer\nResult: the top drawer handle could not be grasped and the drawer is not closed", + "avoidance": "Move the right arm to approach and align with the handle of the top drawer instead of the bottom one." + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_8", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_8.hdf5", + "verdict": "fail", + "onset": 4.236788499999999, + "type": [ + "orientation_error", + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: the left gripper approached the blue stapler, offset with its orientation misaligned relative to the blue stapler\nResult: the left gripper failed to grasp the blue stapler", + "avoidance": "Move the left gripper and rotate it clockwise before grasping." + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_9", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_9.hdf5", + "verdict": "fail", + "onset": 3.768842, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: the left gripper approached the blue stapler, offset slightly to the left and slightly forward\nResult: the left gripper failed to grasp the blue stapler", + "avoidance": "Move the left gripper slightly to the right and slightly backward before grasping." + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_10", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_10", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_10.hdf5", + "verdict": "fail", + "onset": 6.154593, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the top drawer.\nObservation: the left gripper approached the top drawer offset slightly to the left\nResult: the stapler was not placed into the top drawer", + "avoidance": "Move the left gripper to the right slightly" + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_11", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_11.hdf5", + "verdict": "fail", + "onset": 3.803999, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align with the blue stapler.\nObservation: The left gripper approached the blue stapler, offset significantly to the right and forward.\nResult: The left gripper failed to grasp the stapler.", + "avoidance": "Move the left gripper to the left and backward significantly." + }, + { + "sample": "put_stapler_top_drawer_and_close_episode_12", + "task_id": "put_stapler_top_drawer_and_close", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/put_stapler_top_drawer_and_close/episode_12.hdf5", + "verdict": "fail", + "onset": 6.455367, + "type": [ + "translation_error", + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the top drawer.\nObservation: The left gripper dropped the stapler on the table instead of in the top drawer, which was slightly offset backward from the target.\nResult: The left arm failed to move and place the stapler in the top drawer.", + "avoidance": "Move the left gripper forward to slightly approach the top drawer." + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_0", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_1", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_2", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_4", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_4.hdf5", + "verdict": "fail", + "onset": 4.952275, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the box.\nObservation: The left gripper incorrectly placed the stapler on the plate instead of the box.\nResult: The stapler was misplaced onto the plate instead of the box.", + "avoidance": "Move the left arm to align with the box instead of the plate." + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_5", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_5.hdf5", + "verdict": "fail", + "onset": 2.00185, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the right arm to approach and align the doll.\nObservation: The right arm targeted the stapler first.\nResult: The doll was not picked up by the right gripper.", + "avoidance": "The right arm should align with the doll instead of the stapler." + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_6", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_6.hdf5", + "verdict": "fail", + "onset": 10.414694, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the box.\nObservation: the left gripper incorrectly placed the stapler onto the plate instead of the box\nResult: the left gripper failed to place the stapler on the box", + "avoidance": "Move the left arm to align with the box instead of the plate." + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_11", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_11", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_11.hdf5", + "verdict": "fail", + "onset": 2.938758, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the stapler.\nObservation: the left gripper approached the stapler offset slightly to the left with its orientation misaligned relative to the stapler\nResult: the gripper could not grasp the stapler", + "avoidance": "Move the left gripper to the right slightly, and rotate the left gripper" + }, + { + "sample": "put_two_objects_into_plate_and_box_episode_14", + "task_id": "put_two_objects_into_plate_and_box", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/put_two_objects_into_plate_and_box/episode_14.hdf5", + "verdict": "fail", + "onset": 12.113684, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the stapler with the left arm.\nObservation: The left gripper failed to close sufficiently to grasp the stapler. \nResult: The left gripper failed to grasp the stapler.", + "avoidance": "Close the left gripper tightly when grasping the stapler." + }, + { + "sample": "stack_cup_cola_episode_0", + "task_id": "stack_cup_cola", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_cup_cola/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_cola_episode_30", + "task_id": "stack_cup_cola", + "episode": "episode_30", + "robot": "agilex", + "hdf5": "episodes/stack_cup_cola/episode_30.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_cola_episode_103", + "task_id": "stack_cup_cola", + "episode": "episode_103", + "robot": "agilex", + "hdf5": "episodes/stack_cup_cola/episode_103.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_cola_episode_119", + "task_id": "stack_cup_cola", + "episode": "episode_119", + "robot": "agilex", + "hdf5": "episodes/stack_cup_cola/episode_119.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_cola_episode_235", + "task_id": "stack_cup_cola", + "episode": "episode_235", + "robot": "agilex", + "hdf5": "episodes/stack_cup_cola/episode_235.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_on_book_episode_0", + "task_id": "stack_cup_on_book", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_on_book_episode_1", + "task_id": "stack_cup_on_book", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_on_book_episode_2", + "task_id": "stack_cup_on_book", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "stack_cup_on_book_episode_3", + "task_id": "stack_cup_on_book", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_3.hdf5", + "verdict": "fail", + "onset": 6.212527, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the closed book.\nObservation: The left gripper with the grasped cup aligned with the blue plate instead of the book.\nResult: The left arm failed to align with the closed book, causing incorrect placement.", + "avoidance": "Move the left arm to align with the blue closed book before releasing." + }, + { + "sample": "stack_cup_on_book_episode_4", + "task_id": "stack_cup_on_book", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_4.hdf5", + "verdict": "fail", + "onset": 4.945198, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to align with the closed book.\nObservation: the left gripper placed the cup into the basket instead of aligning it with the book\nResult: the left gripper placed the cup in the wrong position", + "avoidance": "The left gripper needs to place the cup on the closed book." + }, + { + "sample": "stack_cup_on_book_episode_5", + "task_id": "stack_cup_on_book", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_5.hdf5", + "verdict": "fail", + "onset": 2.671945, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the cup.\nObservation: The left gripper incorrectly targeted the green block instead of the cup during the approach phase.\nResult: the left gripper doesn't pick up the cup.", + "avoidance": "Move the left arm to approach and align with the cup." + }, + { + "sample": "stack_cup_on_book_episode_6", + "task_id": "stack_cup_on_book", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_6.hdf5", + "verdict": "fail", + "onset": 2.880668, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align with the cup.\nObservation: the left gripper incorrectly targeted and manipulated the green block instead of the cup\nResult: the left gripper failed to grasp the green block", + "avoidance": "The left gripper needs to grasp the cup." + }, + { + "sample": "stack_cup_on_book_episode_14", + "task_id": "stack_cup_on_book", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_14.hdf5", + "verdict": "fail", + "onset": 4.400842, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the cup.\nObservation: The left gripper failed to close sufficiently to secure the cup, leaving the cup on the table.\nResult: The left gripper failed to grasp and move the cup to the closed book.", + "avoidance": "Close the left gripper tightly to grasp the cup." + }, + { + "sample": "stack_cup_on_book_episode_15", + "task_id": "stack_cup_on_book", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/stack_cup_on_book/episode_15.hdf5", + "verdict": "fail", + "onset": 2.989241, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the cup.\nObservation: the left gripper failed to close sufficiently to grasp the cup\nResult: the cup remained stationary and the robot withdrew without securing it.", + "avoidance": "Close the left gripper" + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_0", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_2", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_2.hdf5", + "verdict": "fail", + "onset": 2.289424, + "type": [ + "closing_error" + ], + "reason": "Expected: Grasp the green cup.\nObservation: The left gripper failed to close sufficiently to grasp the green cup\nResult: The green cup was not lifted.", + "avoidance": "Close the left gripper more tightly" + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_4", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_4.hdf5", + "verdict": "fail", + "onset": 2.832946, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper failed to maintain a secure grasp on the green cup during the approach, causing it to slip and fall.\nResult: the left gripper failed to stack the green cup over the purple cup.", + "avoidance": "Make sure the left gripper secures the green cup while moving." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_5", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_5.hdf5", + "verdict": "fail", + "onset": 3.845947, + "type": [ + "wrong_placement" + ], + "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: the left gripper stacked the green cup into the blue cup instead of the purple cup.\nResult: the left gripper failed to stack the green cup into the purple cup.", + "avoidance": "Move the left arm to approach and align the purple cup instead of the blue cup." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_7", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_7.hdf5", + "verdict": "fail", + "onset": 2.058946, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly to the right, with its orientation misaligned relative to the green cup.\nResult: The left gripper failed to grasp the green cup.", + "avoidance": "Move the left gripper slightly to the left and rotate it counterclockwise before grasping." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_8", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_8", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_8.hdf5", + "verdict": "fail", + "onset": 2.2006505, + "type": [ + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup with its orientation misaligned relative to the green cup.\nResult: The left gripper failed to grasp the green cup rim.", + "avoidance": "Rotate the left gripper clockwise to align with the cup rim." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_9", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_9.hdf5", + "verdict": "fail", + "onset": 2.794577, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly to the right.\nResult: The left gripper failed to grasp the green cup.", + "avoidance": "Move the left gripper slightly to the left before grasping." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_12", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_12", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_12.hdf5", + "verdict": "fail", + "onset": 4.313862, + "type": [ + "translation_error" + ], + "reason": "Expected: Move the left arm to approach and align the purple cup.\nObservation: The left gripper was positioned too low during the alignment stage, causing a collision and halting the task.\nResult: The left gripper failed to align the green cup with the purple cup.", + "avoidance": "Move the left gripper in a higher position during the alignment stage." + }, + { + "sample": "stack_green_cup_into_purple_cup_episode_14", + "task_id": "stack_green_cup_into_purple_cup", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/stack_green_cup_into_purple_cup/episode_14.hdf5", + "verdict": "fail", + "onset": 4.709517, + "type": [ + "translation_error", + "orientation_error" + ], + "reason": "Expected: Move the left arm to approach and align the green cup.\nObservation: The left gripper approached the green cup, offset slightly upward, with its orientation misaligned relative to the green cup.\nResult: The gripper failed to engage the cup properly, preventing the grasp.", + "avoidance": "Move the left gripper slightly downward and rotate the left gripper" + }, + { + "sample": "stack_pepsi_can_cup_episode_0", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_pepsi_can_cup_episode_1", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "stack_pepsi_can_cup_episode_2", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "stack_pepsi_can_cup_episode_3", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_3.hdf5", + "verdict": "fail", + "onset": 1.787947, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper incorrectly selected and lifted the red cube instead of the Pepsi can.\nResult: The left gripper failed to grasp the Pepsi can.", + "avoidance": "Move the left arm to approach and align the blue Pepsi can instead of the red cube." + }, + { + "sample": "stack_pepsi_can_cup_episode_4", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_4.hdf5", + "verdict": "fail", + "onset": 3.217051, + "type": [ + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The right arm erroneously initiated the grasp attempt on the Pepsi can, instead of the designated left arm.\nResult: The wrong arm was mobilized", + "avoidance": "Use the left arm to grasp the Pepsi can." + }, + { + "sample": "stack_pepsi_can_cup_episode_5", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_5.hdf5", + "verdict": "fail", + "onset": 2.661842, + "type": [ + "wrong_placement", + "translation_error" + ], + "reason": "Expected: Move the left arm to align with the blue cup.\nObservation: The left gripper placed the Pepsi can in the bowl instead of the cup, which is to its right.\nResult: The left gripper failed to place the Pepsi can in the cup.", + "avoidance": "Move the left arm to place the Pepsi can into the blue cup." + }, + { + "sample": "stack_pepsi_can_cup_episode_6", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_6.hdf5", + "verdict": "fail", + "onset": 1.805472, + "type": [ + "wrong_object" + ], + "reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper incorrectly selected the red cube instead of the blue Pepsi can.\nResult: The left gripper failed to grasp and move the Pepsi can.", + "avoidance": "Move the left arm to approach and align the blue Pepsi can instead of the red cube." + }, + { + "sample": "stack_pepsi_can_cup_episode_14", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_14", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_14.hdf5", + "verdict": "fail", + "onset": 2.299473, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the blue cup.\nObservation: The left gripper failed to maintain a secure grasp on the Pepsi can while moving it to the blue cup.\nResult: The left gripper failed to move the Pepsi can to the blue cup.", + "avoidance": "Close the left gripper tightly to secure the blue cup." + }, + { + "sample": "stack_pepsi_can_cup_episode_15", + "task_id": "stack_pepsi_can_cup", + "episode": "episode_15", + "robot": "agilex", + "hdf5": "episodes/stack_pepsi_can_cup/episode_15.hdf5", + "verdict": "fail", + "onset": 1.468418, + "type": [ + "open_error" + ], + "reason": "Expected: Move the left arm to approach and align the blue Pepsi can.\nObservation: The left gripper failed to open (transition to the open state) after aligning with the Pepsi can.\nResult: The left gripper failed to grasp the blue Pepsi can.", + "avoidance": "Open the left gripper for grasping the Pepsi can." + }, + { + "sample": "stack_three_block_episode_0", + "task_id": "stack_three_block", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_block_episode_9", + "task_id": "stack_three_block", + "episode": "episode_9", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_9.hdf5", + "verdict": "fail", + "onset": 5.529898, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the orange block during the alignment phase, causing it to drop.\nResult: the gripper failed to secure the orange block, making it drop before stacking.", + "avoidance": "Close the left gripper tightly to secure the green cube when grasping." + }, + { + "sample": "stack_three_block_episode_19", + "task_id": "stack_three_block", + "episode": "episode_19", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_19.hdf5", + "verdict": "fail", + "onset": 3.198421, + "type": [ + "wrong_sequence", + "wrong_gripper" + ], + "reason": "Expected: Move the left arm to align with the orange block.\nObservation: The right gripper grasped the blue cubes, while the left arm is still and has not approached the orange block.\nResult: The left arm failed to approach and align with the orange block.", + "avoidance": "Move the left arm to align with the orange block first." + }, + { + "sample": "stack_three_block_episode_29", + "task_id": "stack_three_block", + "episode": "episode_29", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_29.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_block_episode_42", + "task_id": "stack_three_block", + "episode": "episode_42", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_42.hdf5", + "verdict": "fail", + "onset": 13.230289, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the right arm to align with the orange block.\nObservation: The right gripper failed to maintain a secure grasp on the blue block during the alignment phase.\nResult: The gripper drops the blue block.", + "avoidance": "Close the right gripper tightly" + }, + { + "sample": "stack_three_block_episode_44", + "task_id": "stack_three_block", + "episode": "episode_44", + "robot": "agilex", + "hdf5": "episodes/stack_three_block/episode_44.hdf5", + "verdict": "fail", + "onset": 4.393103, + "type": [ + "closing_error" + ], + "reason": "Expected: Move the left arm to align with the green block.\nObservation: the left gripper failed to maintain a secure grasp on the orange block during the alignment phase, causing it to drop\nResult: The block was displaced onto the table", + "avoidance": "Close the left gripper tightly" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_0", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_0", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_0.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_1", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_1", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_1.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_2", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_2", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_2.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_3", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_3", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_3.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_4", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_4", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_4.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_5", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_5", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_5.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_6", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_6", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_6.hdf5", + "verdict": "success" + }, + { + "sample": "stack_three_color_cubes_ep1_episode_7", + "task_id": "stack_three_color_cubes_ep1", + "episode": "episode_7", + "robot": "agilex", + "hdf5": "episodes/stack_three_color_cubes_ep1/episode_7.hdf5", + "verdict": "success" + }, + { + "sample": 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