| # t000__ep017__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 475 (9.5s at 50 Hz) |
| - **policy inferences:** 82 (replan_steps=6) |
| - **video:** `blocks/ep017/rollout.mp4` |
| - **features:** `82` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | reaching for yellow block | |
| | 3.0–6.0 | 151–301 | 25–50 | grasping and placing yellow block | |
| | 6.0–9.0 | 302–452 | 50–75 | hovering above wooden block | |
| | 9.0–9.5 | 453–474 | 75–79 | idle near wooden block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 5.199203187250996 s (00:05.2) |
| - **frame / control_step:** 261 (policy_step=43, chunk_index=3) |
| - **coarse onset:** 5.2 s (refined=False) |
| - **mode:** placement_or_insertion_failure |
| - **reason:** The robot successfully picked up the yellow block and moved it over the wooden block, but released it off-center, causing the yellow block to slide off and fall behind the wooden block. |
| Summary: improper block placement; yellow block fell off wooden block |
| - **recovery:** Regrasp the fallen yellow block from the table, position it directly over the center of the wooden block, and place it carefully to stack it. |
| Summary: regrasp yellow block; stack onto wooden block |
| - **prevention:** Align the yellow block directly over the center of the wooden block before releasing the gripper to ensure a stable stack. |
| Summary: align yellow block centered; place stably on wooden block |
| - **justification:** At around 5.2 seconds (frame 00:05 to 00:06), the robot attempts to place the yellow block on the wooden block, but misaligns the placement, causing the yellow block to fall off and fail the goal predicate. |
|
|
