| # t000__ep010__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 359 (7.1s at 51 Hz) |
| - **policy inferences:** 61 (replan_steps=6) |
| - **video:** `blocks/ep010/rollout.mp4` |
| - **features:** `61` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | positioning gripper above yellow block | |
| | 3.0–6.0 | 152–303 | 25–50 | attempting grasp on yellow block | |
| | 6.0–7.1 | 304–358 | 50–59 | moving empty gripper to wooden block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 4.547244094488189 s (00:04.5) |
| - **frame / control_step:** 231 (policy_step=38, chunk_index=3) |
| - **coarse onset:** 4.0 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot attempted to grasp the yellow block but failed to establish a secure grip, leaving the block on the table while moving its empty gripper toward the wooden block. |
| Summary: failed grasp on yellow block; moving empty gripper |
| - **recovery:** Move the arm back to the yellow block, center the end-effector, securely grasp the block, and proceed to stack it on the wooden block. |
| Summary: re-align gripper; grasp yellow block; stack on wooden block |
| - **prevention:** Ensure the gripper is properly aligned and centered over the yellow block before closing the fingers so that the object is securely held prior to moving toward the target block. |
| Summary: center gripper over yellow block; secure grasp before moving |
| - **justification:** At around 4.0 seconds, the robot closes its fingers around the yellow block but slips off without securing it. The end-effector lifts away empty at 5.0 seconds and moves toward the wooden block as if carrying the block. |
|
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