| # t000__ep002__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 316 (6.3s at 50 Hz) |
| - **policy inferences:** 55 (replan_steps=6) |
| - **video:** `blocks/ep002/rollout.mp4` |
| - **features:** `55` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | reaching down toward yellow block | |
| | 3.0–6.0 | 151–301 | 25–50 | closing gripper and lifting empty | |
| | 6.0–6.3 | 302–315 | 50–52 | hovering above blocks | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 4.183266932270916 s (00:04.2) |
| - **frame / control_step:** 210 (policy_step=35, chunk_index=0) |
| - **coarse onset:** 3.2 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot aligned with the yellow block and closed its end-effector, but failed to establish a secure grip, lifting up empty while leaving the yellow block on the table. |
| Summary: failed grasp on yellow block; lifting empty gripper |
| - **recovery:** Lower the gripper back down, align the fingers squarely around the yellow block, close securely, and lift to proceed with stacking. |
| Summary: re-align gripper; grasp yellow block securely |
| - **prevention:** Ensure the end-effector descends to the correct height and centers over the yellow block before closing the gripper to guarantee a firm hold. |
| Summary: align gripper centered on yellow block; secure firm grip |
| - **justification:** Around 3.2 seconds into the rollout, the gripper attempts to grasp the yellow block but fails to pinch it properly, lifting back into the air without the object by 4.0 seconds. |
|
|
