blocks/ep034/example.md

t000__ep034__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 930 (18.5s at 50 Hz)
• policy inferences: 160 (replan_steps=6)
• video: blocks/ep034/rollout.mp4
• features: 160 prefix tensors (prefix; model=``)

Semantic timeline

seconds	control_step	policy_step	phrase
0.0–3.0	0–150	0–25	reaching for and grasping yellow block
3.0–6.0	151–301	25–50	lifting yellow block; misplacing on table
6.0–9.0	302–452	50–75	releasing block; hovering low near table
9.0–12.0	453–603	75–100	hovering near misplaced block; idle
12.0–15.0	604–754	100–125	holding position near table; idle
15.0–18.0	755–905	125–150	remaining stationary near block
18.0–18.5	906–929	151–154	remaining stationary at rollout end

Failure

• yes
• onset type: obvious_mistake
• onset: 5.09920634920635 s (00:05.1)
• frame / control_step: 257 (policy_step=42, chunk_index=5)
• coarse onset: 6.0 s (refined=True)
• mode: placement_or_insertion_failure
• reason: The robot successfully picked up the yellow block and brought it toward the wooden block, but misplaced it off the edge of the wooden block onto the table instead of stacking it directly on top. Summary: misaligned placement; yellow block placed on table beside wooden block
• recovery: Re-grasp the yellow block from the table surface, lift it above the wooden block, align it over the top center of the wooden block, and release. Summary: re-grasp yellow block; center and stack on wooden block
• prevention: Maintain sufficient clearance height above the wooden block during approach and align the yellow block centered over the top surface before releasing. Summary: maintain clearance; center yellow block over wooden block before release
• justification: Around 6.0 seconds (frame 00:06), the robot lowers the yellow block, but misses the top surface of the wooden block and places it onto the table adjacent to it. The yellow block remains on the table for the rest of the rollout, failing the stacking goal.