t000__ep030__blocks
- suite / variant:
/ - instruction: Stack the yellow block on the wooden block
- success: False
- control steps: 394 (7.8s at 51 Hz)
- policy inferences: 68 (replan_steps=6)
- video:
blocks/ep030/rollout.mp4 - features:
68prefix tensors (prefix; model=``)
Semantic timeline
| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | lowering end-effector toward yellow block |
| 3.0–6.0 | 152–303 | 25–50 | closing gripper without holding block |
| 6.0–7.8 | 304–393 | 50–65 | moving empty gripper over wooden block |
Failure
- yes
- onset type: obvious_mistake
- onset: 4.220907297830374 s (00:04.2)
- frame / control_step: 214 (policy_step=35, chunk_index=4)
- coarse onset: 4.0 s (refined=True)
- mode: grasp_failure
- reason: The robot closed its gripper above the yellow block without properly enveloping or grasping it, then moved away toward the wooden block with empty fingers. Summary: failed grasp on yellow block; empty gripper lift
- recovery: Move the end-effector back to the yellow block, open the gripper, position it fully around the block, grasp it securely, and then carry it to the wooden block. Summary: re-align gripper; grasp yellow block; stack on wooden block
- prevention: Lower the end-effector further to align the gripper fingers around the yellow block before closing them to guarantee a firm hold. Summary: lower gripper fully; secure block before lifting
- justification: At around 4.0 seconds (frame 00:04), the gripper closes in mid-air above the yellow block, failing to grasp it. The robot then proceeds to move toward the target without the block.