| # t000__ep025__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 1029 (20.5s at 50 Hz) |
| - **policy inferences:** 178 (replan_steps=6) |
| - **video:** `blocks/ep025/rollout.mp4` |
| - **features:** `178` 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 | grasping and moving yellow block | |
| | 6.0–9.0 | 302–452 | 50–75 | positioning block on wooden block | |
| | 9.0–12.0 | 453–603 | 75–100 | holding yellow block on target | |
| | 12.0–15.0 | 604–754 | 100–125 | remaining stationary over block | |
| | 15.0–18.0 | 755–905 | 125–150 | idle with gripper closed | |
| | 18.0–20.5 | 906–1028 | 151–171 | idle with gripper closed | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 6.242544731610338 s (00:06.2) |
| - **frame / control_step:** 314 (policy_step=52, chunk_index=2) |
| - **coarse onset:** 7.0 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** After placing the yellow block on top of the wooden block, the robot failed to open its gripper to release the object and remained stuck in position until time expired. |
| Summary: stuck on target; failure to release gripper |
| - **recovery:** Open the gripper to release the yellow block onto the wooden block, then raise the arm away from the stack. |
| Summary: open gripper; retract arm |
| - **prevention:** Command the gripper to open immediately once stable contact with the wooden block is made, then retract the arm. |
| Summary: release block on contact; retract arm |
| - **justification:** The robot successfully picked up the yellow block and aligned it on top of the wooden block by around 00:06. However, at around 00:07, it stopped making progress and remained frozen with its gripper holding the block until the end of the episode. |
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