| # t000__ep033__blocks |
|
|
| - **suite / variant:** `` / `` |
| - **instruction:** Stack the yellow block on the wooden block |
| - **success:** False |
| - **control steps:** 981 (19.6s at 50 Hz) |
| - **policy inferences:** 169 (replan_steps=6) |
| - **video:** `blocks/ep033/rollout.mp4` |
| - **features:** `169` prefix tensors (`prefix`; model=``) |
| |
| ## Semantic timeline |
| |
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–149 | 0–24 | reaching and grasping yellow block | |
| | 3.0–6.0 | 150–299 | 25–49 | carrying yellow block toward target | |
| | 6.0–9.0 | 300–449 | 50–74 | lowering yellow block over target | |
| | 9.0–12.0 | 450–599 | 75–99 | releasing yellow block onto table | |
| | 12.0–15.0 | 600–749 | 100–124 | hovering gripper above table | |
| | 15.0–18.0 | 750–899 | 125–149 | remaining idle near blocks | |
| | 18.0–19.6 | 900–980 | 150–163 | idle near wooden block | |
| |
| ## Failure |
| |
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 7.485029940119761 s (00:07.5) |
| - **frame / control_step:** 375 (policy_step=62, chunk_index=3) |
| - **coarse onset:** 9.0 s (refined=True) |
| - **mode:** placement_or_insertion_failure |
| - **reason:** The robot carries the yellow block to the wooden block but misaligns the placement, releasing the yellow block beside the wooden block onto the table surface rather than stacking it directly on top. |
| Summary: misaligned placement; yellow block released beside wooden block |
| - **recovery:** Re-grasp the yellow block from the table, lift it above the wooden block, align it properly with the top surface, and place it down securely. |
| Summary: re-grasp yellow block; center and stack on wooden block |
| - **prevention:** Position the yellow block directly over the center of the wooden block at a sufficient height before opening the gripper to release it. |
| Summary: center yellow block over target; release carefully onto surface |
| - **justification:** At around 9.0 seconds, as the robot attempts to place the yellow block on top of the wooden block, it lowers the gripper off-center, causing the yellow block to slip down and land on the table beside the wooden block. |
|
|
