blocks/ep028/example.md

t000__ep028__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 934 (18.5s at 50 Hz)
• policy inferences: 160 (replan_steps=6)
• video: blocks/ep028/rollout.mp4
• features: 160 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 yellow block
6.0–9.0	302–452	50–75	moving yellow block toward wooden block
9.0–12.0	453–603	75–100	lowering yellow block onto wooden block
12.0–15.0	604–754	100–125	positioning yellow block on wooden block
15.0–18.0	755–905	125–150	releasing yellow block; block slipping off
18.0–18.5	906–933	151–155	retreating gripper

Failure

• yes
• onset type: obvious_mistake
• onset: 16.567460317460316 s (00:16.6)
• frame / control_step: 835 (policy_step=139, chunk_index=1)
• coarse onset: 15.5 s (refined=True)
• mode: placement_or_insertion_failure
• reason: The robot released the yellow block onto the wooden block without proper alignment, causing the yellow block to slide off and fall onto the table as the gripper opened. Summary: unstable placement; block sliding off
• recovery: Re-grasp the yellow block from the table surface, align it directly over the center of the wooden block, and place it gently. Summary: re-grasp yellow block; stack stably on wooden block
• prevention: Ensure the yellow block is centered and leveled over the wooden block prior to opening the gripper. Summary: center yellow block; release gently on target
• justification: The robot successfully picked up the yellow block and brought it to the wooden block, but upon releasing at ~15.5s, the placement was misaligned and unstable, causing the yellow block to fall off onto the table by 17.0s.