| # t000__ep018__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 571 (11.3s at 51 Hz) |
| - **policy inferences:** 99 (replan_steps=6) |
| - **video:** `blocks/ep018/rollout.mp4` |
| - **features:** `99` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | reaching toward yellow block | |
| | 3.0–6.0 | 152–303 | 25–50 | grasping and lifting yellow block | |
| | 6.0–9.0 | 304–455 | 50–75 | moving yellow block to target | |
| | 9.0–11.3 | 456–570 | 76–95 | lowering and releasing block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 8.67588932806324 s (00:08.7) |
| - **frame / control_step:** 439 (policy_step=73, chunk_index=1) |
| - **coarse onset:** 9.5 s (refined=True) |
| - **mode:** placement_or_insertion_failure |
| - **reason:** The robot successfully grasped the yellow block and brought it over the wooden block, but released it with poor alignment, causing the block to rest in an unstable tilted position. |
| Summary: misaligned placement; unstable block stacking |
| - **recovery:** Re-grasp the yellow block, align it directly over the wooden block's top surface, and place it down cleanly. |
| Summary: re-grasp yellow block; align and stack on wooden block |
| - **prevention:** Ensure the yellow block is centered directly above the wooden block before lowering and releasing the gripper. |
| Summary: center yellow block over wooden block; release carefully |
| - **justification:** The robot successfully picks up the yellow block and moves it to the target location. However, around 9.5 seconds into the rollout (frames 00:09–00:10), the robot lowers and releases the yellow block without proper alignment, causing it to balance instability / sit tilted on top of the wooden block rather than being properly stacked. |
|
|
