| # 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. |
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