| # 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. |
|
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