| # t000__ep007__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 342 (6.8s at 50 Hz) |
| - **policy inferences:** 60 (replan_steps=6) |
| - **video:** `blocks/ep007/rollout.mp4` |
| - **features:** `60` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | reaching for yellow block | |
| | 3.0–6.0 | 152–303 | 25–50 | attempting grasp and lifting empty | |
| | 6.0–6.8 | 304–341 | 50–56 | hovering empty gripper | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 3.5841584158415842 s (00:03.6) |
| - **frame / control_step:** 181 (policy_step=30, chunk_index=1) |
| - **coarse onset:** 3.5 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot attempted to grasp the yellow block, but the gripper closed off-center, causing the block to slip out and remain on the table. |
| Summary: failed grasp on yellow block; object slipped |
| - **recovery:** Re-align the gripper directly over the yellow block, close the fingers firmly to secure the grasp, and lift it to stack on top of the wooden block. |
| Summary: re-align gripper; regrasp yellow block; stack on wooden block |
| - **prevention:** Position the gripper accurately over the center of the yellow block before closing the fingers to establish a stable hold. |
| Summary: center gripper; secure hold on block |
| - **justification:** Around 3.5 seconds into the rollout, the robot closes its gripper on the yellow block, but fails to establish a grasp. The block slips out as the arm rises, leaving the gripper empty for the remainder of the trajectory. |
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