| # t000__ep027__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 645 (12.8s at 50 Hz) |
| - **policy inferences:** 112 (replan_steps=6) |
| - **video:** `blocks/ep027/rollout.mp4` |
| - **features:** `112` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | lowering arm toward yellow block | |
| | 3.0–6.0 | 151–301 | 25–50 | grasping and lifting yellow block | |
| | 6.0–9.0 | 302–452 | 50–75 | placing block on wooden block | |
| | 9.0–12.0 | 453–603 | 75–100 | retracting gripper and hovering | |
| | 12.0–12.8 | 604–644 | 100–107 | lowering toward table | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 5.059760956175299 s (00:05.1) |
| - **frame / control_step:** 254 (policy_step=42, chunk_index=2) |
| - **coarse onset:** 8.0 s (refined=True) |
| - **mode:** placement_or_insertion_failure |
| - **reason:** The robot attempted to stack the yellow block on the wooden block, but misaligned the block upon release, causing it to slide off onto the table surface. |
| Summary: misaligned block placement; block sliding off target |
| - **recovery:** Re-grasp the fallen yellow block from the table surface, align it directly over the center of the wooden block, and release it gently. |
| Summary: re-grasp yellow block; place on wooden block |
| - **prevention:** Ensure the yellow block is centered and flat on top of the wooden block before releasing the gripper to achieve a stable stack. |
| Summary: center yellow block; release stably |
| - **justification:** None |
|
|
