| # t000__ep004__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 349 (6.9s at 51 Hz) |
| - **policy inferences:** 60 (replan_steps=6) |
| - **video:** `blocks/ep004/rollout.mp4` |
| - **features:** `60` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | descending toward yellow block | |
| | 3.0–6.0 | 152–303 | 25–50 | attempting grasp and lifting empty | |
| | 6.0–6.9 | 304–348 | 50–58 | hovering empty over wooden block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 4.251968503937008 s (00:04.3) |
| - **frame / control_step:** 216 (policy_step=36, chunk_index=0) |
| - **coarse onset:** 3.8 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot attempted to grasp the yellow block, but the gripper closed improperly without securing the block, lifting up empty. |
| Summary: failed grasp on yellow block; empty gripper lift |
| - **recovery:** Re-align the gripper over the yellow block, descend, securely grasp the yellow block, and then move to stack it on the wooden block. |
| Summary: re-align gripper over yellow block; grasp yellow block |
| - **prevention:** Ensure precise alignment and sufficient finger contact around the yellow block before closing the gripper and lifting. |
| Summary: align gripper precisely; secure grasp before lifting |
| - **justification:** At around 3.8 seconds, the robot gripper closes around the yellow block but fails to grasp it securely. By 5.0 seconds, the arm lifts up completely empty, leaving the yellow block on the table while proceeding to move towards the wooden block without the object. |
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