blocks/ep042/example.md

t000__ep042__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 1285 (25.5s at 50 Hz)
• policy inferences: 220 (replan_steps=6)
• video: blocks/ep042/rollout.mp4
• features: 220 prefix tensors (prefix; model=``)

Semantic timeline

seconds	control_step	policy_step	phrase
0.0–3.0	0–150	0–25	reaching for 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	moving block over wooden block
12.0–15.0	604–754	100–125	releasing block off target
15.0–18.0	755–905	125–150	hovering above displaced block
18.0–21.0	906–1056	151–176	hovering above table
21.0–24.0	1057–1207	176–201	remaining stationary above block
24.0–25.5	1208–1284	201–214	remaining stationary

Failure

• yes
• onset type: obvious_mistake
• onset: 13.499005964214712 s (00:13.5)
• frame / control_step: 679 (policy_step=113, chunk_index=1)
• coarse onset: 13.5 s (refined=False)
• mode: placement_or_insertion_failure
• reason: The robot released the yellow block too close to the front edge of the wooden block, causing the yellow block to slip off and tilt against the front side of the wooden block. Summary: improper placement alignment; block slipping off target
• recovery: Re-grasp the tilted yellow block, lift it up, align it centered over the wooden block's top face, and release it. Summary: re-grasp yellow block; center over target; release carefully
• prevention: Align the yellow block directly over the center of the wooden block before opening the gripper fingers to ensure a stable stack. Summary: center block on target surface; release when stable
• justification: At approximately 13.5 seconds, the robot opens its gripper while the yellow block is off-center near the edge of the wooden block. As a result, the block slides down and rests precariously tilted against the front of the wooden block, leaving the goal unfulfilled.