| # t000__ep021__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 505 (10.0s at 50 Hz) |
| - **policy inferences:** 88 (replan_steps=6) |
| - **video:** `blocks/ep021/rollout.mp4` |
| - **features:** `88` 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 | closing gripper on yellow block | |
| | 6.0–9.0 | 304–455 | 50–75 | lifting empty gripper | |
| | 9.0–10.0 | 456–504 | 76–84 | hovering above workspace | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 5.069306930693069 s (00:05.1) |
| - **frame / control_step:** 256 (policy_step=42, chunk_index=4) |
| - **coarse onset:** 5.5 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot gripper attempted to grasp the yellow block, but closed loosely/improperly and slipped off, lifting away without holding the block. |
| Summary: failed grasp on yellow block; gripper slipped |
| - **recovery:** Lower the gripper back over the yellow block, close firmly around it to secure a grasp, and then stack it onto the wooden block. |
| Summary: re-align gripper; regrasp yellow block; stack on wooden block |
| - **prevention:** Center the gripper precisely over the yellow block and ensure the fingers close completely before initiating the lift. |
| Summary: align gripper centered on yellow block; secure grasp before lifting |
| - **justification:** None |
|
|
