| # t000__ep008__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 381 (7.4s at 52 Hz) |
| - **policy inferences:** 66 (replan_steps=6) |
| - **video:** `blocks/ep008/rollout.mp4` |
| - **features:** `66` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–154 | 0–25 | approaching yellow block | |
| | 3.0–6.0 | 155–309 | 25–51 | closing gripper and missing grasp | |
| | 6.0–7.4 | 310–380 | 51–63 | retracting empty gripper | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 4.050387596899225 s (00:04.1) |
| - **frame / control_step:** 209 (policy_step=34, chunk_index=5) |
| - **coarse onset:** 4.0 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot closed its gripper on the yellow block, but failed to establish a secure grip, causing the block to slip out as the arm lifted. |
| Summary: improper grasp alignment; failed object pick-up |
| - **recovery:** Re-align the gripper directly over the yellow block, close the fingers securely around it, lift it, and stack it onto the wooden block. |
| Summary: re-align gripper; regrasp yellow block; stack on wooden block |
| - **prevention:** Ensure the gripper is properly centered and at the correct height over the yellow block before closing the fingers to guarantee a solid grasp. |
| Summary: center gripper on block; close gripper securely |
| - **justification:** At 4.0 seconds, the robot attempts to close its gripper around the yellow block, but the block pops out of the fingers as the arm begins lifting, leaving the block on the table. |
|
|
