| # t000__ep031__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 364 (7.3s at 50 Hz) |
| - **policy inferences:** 63 (replan_steps=6) |
| - **video:** `blocks/ep031/rollout.mp4` |
| - **features:** `63` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–149 | 0–24 | lowering arm toward yellow block | |
| | 3.0–6.0 | 150–299 | 25–49 | closing gripper; lifting empty | |
| | 6.0–7.3 | 300–363 | 50–60 | hovering empty gripper above block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 4.06 s (00:04.1) |
| - **frame / control_step:** 203 (policy_step=33, chunk_index=5) |
| - **coarse onset:** 4.8 s (refined=True) |
| - **mode:** grasp_failure |
| - **reason:** The robot aligned with the yellow block and attempted to grasp it, but the gripper slipped during closure, failing to hold the block as the arm lifted. |
| Summary: grasp failed; yellow block not acquired |
| - **recovery:** Lower the arm back down, reposition the gripper over the center of the yellow block, securely close the fingers around it, and resume stacking on the wooden block. |
| Summary: reposition gripper; regrasp yellow block; stack on wooden block |
| - **prevention:** Ensure precise alignment and grasp depth over the yellow block before closing the gripper so that it is firmly held during lifting. |
| Summary: center gripper over block; secure grasp before lifting |
| - **justification:** Around 4.8 seconds into the video, the robot closes its gripper on the yellow block, but fails to establish a stable grasp. The fingers close completely while the yellow block remains on the table, and the arm lifts up empty. |
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