| # 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:** `68` prefix 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. |
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