| # 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. |
|
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