| # t000__ep014__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 443 (8.8s at 50 Hz) |
| - **policy inferences:** 75 (replan_steps=6) |
| - **video:** `blocks/ep014/rollout.mp4` |
| - **features:** `75` 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 | attempting grasp on yellow block | |
| | 6.0–8.8 | 302–442 | 50–73 | lowering gripper over yellow block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 3.645418326693227 s (00:03.6) |
| - **frame / control_step:** 183 (policy_step=30, chunk_index=3) |
| - **coarse onset:** 3.5 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot descends onto the yellow block but fails to properly align its fingers around it, causing the gripper to close without securing the block. |
| Summary: misaligned fingers; failed to grasp yellow block |
| - **recovery:** Re-align the open gripper directly over the yellow block, lower onto it, close the fingers firmly to secure the block, and lift it before attempting to stack it on the wooden block. |
| Summary: realign gripper; grasp yellow block; lift block |
| - **prevention:** Ensure the open end-effector is centered directly over the yellow block before closing the gripper to achieve a firm hold. |
| Summary: center gripper over block; secure grasp |
| - **justification:** Around 3.5 seconds into the video, the robot attempts to close its gripper onto the yellow block, but fails to acquire a grasp, lifting back up without the object. |
|
|
