blocks/ep035/example.md

t000__ep035__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 1165 (23.1s at 50 Hz)
• policy inferences: 200 (replan_steps=6)
• video: blocks/ep035/rollout.mp4
• features: 200 prefix tensors (prefix; model=``)

Semantic timeline

seconds	control_step	policy_step	phrase
0.0–3.0	0–150	0–25	approaching yellow block
3.0–6.0	151–301	25–50	grasping yellow block
6.0–9.0	302–452	50–75	lifting yellow block
9.0–12.0	453–603	75–100	placing yellow block on wooden block
12.0–15.0	604–754	100–125	holding block; remaining stationary
15.0–18.0	755–905	125–150	idle; holding block
18.0–21.0	906–1056	151–176	idle / stationary position
21.0–23.1	1057–1164	176–194	idle / no progress

Failure

• yes
• onset type: operator_intervention
• onset: 12.063492063492063 s (00:12.1)
• frame / control_step: 608 (policy_step=101, chunk_index=2)
• coarse onset: 13.0 s (refined=True)
• mode: stuck_or_no_progress
• reason: The robot moved the yellow block over the wooden block and lowered it, but then froze without opening its gripper to release the object. Summary: robot freezes; gripper fails to open
• recovery: Open the gripper to release the yellow block onto the wooden block, then retract the end-effector. Summary: open gripper; release yellow block; retract arm
• prevention: Command the gripper to open and the arm to retract immediately after reaching the target placement pose above the wooden block. Summary: open gripper after placement; retract arm
• justification: By timestamp 00:13, the robot has positioned the yellow block directly on top of the wooden block, but it freezes in place and keeps its gripper clamped shut for the remainder of the episode without completing the release.