| # t000__ep012__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 297 (5.9s at 50 Hz) |
| - **policy inferences:** 52 (replan_steps=5) |
| - **video:** `blocks/ep012/rollout.mp4` |
| - **features:** `52` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–149 | 0–29 | reaching toward yellow block | |
| | 3.0–5.9 | 150–296 | 30–59 | closing gripper and lifting empty | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 5.02 s (00:05.0) |
| - **frame / control_step:** 251 (policy_step=50, chunk_index=1) |
| - **coarse onset:** 3.8 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot attempted to grasp the yellow block, but failed to securely grasp it, causing the end-effector to lift up empty while the yellow block remained on the table. |
| Summary: failed grasp on yellow block; lifting empty gripper |
| - **recovery:** Re-align the end-effector above the yellow block, lower it to surround the block, close the fingers firmly, and proceed to stack it on the wooden block. |
| Summary: re-align gripper; regrasp yellow block; stack on wooden block |
| - **prevention:** Ensure the gripper descends sufficiently low and centers around the yellow block before closing the fingers to guarantee a secure grasp. |
| Summary: position lower over yellow block; secure firm grip before lifting |
| - **justification:** Around 3.8 seconds into the rollout, the robot closes its gripper on the yellow block but fails to establish a secure hold. It subsequently lifts away empty, leaving the block on the table. |
|
|
