| # 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:** `74` prefix 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. |
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