blocks/ep015/example.md

t000__ep015__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 1080 (21.3s at 51 Hz)
• policy inferences: 185 (replan_steps=6)
• video: blocks/ep015/rollout.mp4
• features: 185 prefix tensors (prefix; model=``)

Semantic timeline

seconds	control_step	policy_step	phrase
0.0–3.0	0–151	0–25	approaching yellow block
3.0–6.0	152–303	25–50	grasping yellow block
6.0–9.0	304–455	50–75	carrying yellow block to target
9.0–12.0	456–607	76–101	releasing yellow block off-center
12.0–15.0	608–759	101–126	pushing yellow block aside
15.0–18.0	760–911	126–151	dragging yellow block
18.0–21.0	912–1063	152–177	hovering near yellow block
21.0–21.3	1064–1079	177–179	idle near yellow block

Failure

• yes
• onset type: obvious_mistake
• onset: 9.703557312252965 s (00:09.7)
• frame / control_step: 491 (policy_step=81, chunk_index=5)
• coarse onset: 9.5 s (refined=True)
• mode: placement_or_insertion_failure
• reason: The robot misaligned the yellow block while attempting to stack it, causing the block to hit the edge of the wooden block and slide off onto the tabletop. Summary: misaligned block placement; sliding off target block
• recovery: Re-grasp the yellow block, align it directly above the center of the wooden block, and lower it gently onto the top surface. Summary: re-grasp yellow block; stack cleanly on wooden block
• prevention: Ensure the robot aligns the yellow block squarely over the center of the wooden block before opening the gripper to release it. Summary: center block over target; release gently
• justification: At around 9.5 seconds, the robot lowers the yellow block onto the edge of the wooden block instead of centering it. As the gripper opens, the yellow block slides off the wooden block and falls to the side, failing the goal to stack the yellow block on the wooden block.