| # t000__ep005__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 622 (12.4s at 50 Hz) |
| - **policy inferences:** 108 (replan_steps=6) |
| - **video:** `blocks/ep005/rollout.mp4` |
| - **features:** `108` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | approaching yellow block | |
| | 3.0–6.0 | 151–301 | 25–50 | grasping and lifting yellow block | |
| | 6.0–9.0 | 302–452 | 50–75 | carrying yellow block to target | |
| | 9.0–12.0 | 453–603 | 75–100 | releasing yellow block off target | |
| | 12.0–12.4 | 604–621 | 100–103 | retracting arm and remaining idle | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 10.735586481113321 s (00:10.7) |
| - **frame / control_step:** 540 (policy_step=90, chunk_index=0) |
| - **coarse onset:** 10.0 s (refined=True) |
| - **mode:** placement_or_insertion_failure |
| - **reason:** The robot successfully picked up the yellow block and brought it over the target area, but released it beside the wooden block on the tabletop rather than stacking it on top. |
| Summary: misaligned placement; releasing object off-target |
| - **recovery:** Re-grasp the yellow block from the table surface, center it directly over the wooden block, and stack it on top. |
| Summary: re-grasp yellow block; stack on wooden block |
| - **prevention:** Ensure the yellow block is centered directly above the top surface of the wooden block before opening the gripper. |
| Summary: center yellow block over target; release carefully |
| - **justification:** The robot successfully picked up the yellow block and moved toward the target, but at around 10.0 seconds it released the block beside the wooden block onto the tabletop instead of placing it on top. |
|
|
