t000__ep040__blocks
- suite / variant:
/ - instruction: Stack the yellow block on the wooden block
- success: False
- control steps: 426 (8.4s at 51 Hz)
- policy inferences: 74 (replan_steps=6)
- video:
blocks/ep040/rollout.mp4 - features:
74prefix tensors (prefix; model=``)
Semantic timeline
| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | lowering gripper toward yellow block |
| 3.0–6.0 | 152–303 | 25–50 | closing gripper and lifting empty |
| 6.0–8.4 | 304–425 | 50–70 | moving empty gripper over wooden block |
Failure
- yes
- onset type: obvious_mistake
- onset: 4.714003944773175 s (00:04.7)
- frame / control_step: 239 (policy_step=39, chunk_index=5)
- coarse onset: 4.2 s (refined=True)
- mode: grasp_failure
- reason: The robot attempted to grasp the yellow block, but failed to secure its grip, raising its empty gripper into the air while leaving the block on the table. Summary: failed grasp on yellow block; lifting empty gripper
- recovery: Move the arm back over the yellow block, lower the gripper around the block, close the fingers securely, and then pick it up. Summary: re-align gripper over yellow block; grasp and lift yellow block
- prevention: Ensure the gripper is properly aligned and centered around the yellow block before closing the fingers to achieve a firm grasp before lifting. Summary: center gripper on yellow block; secure firm grip before lifting
- justification: At 00:04 (4.0s), the robot closes its gripper on the yellow block, but fails to grip it securely. By 00:05 (5.0s), the arm lifts up leaving the yellow block behind on the table, continuing to execute the stacking motion with an empty gripper.