t000__ep043__blocks
- suite / variant:
/ - instruction: Stack the yellow block on the wooden block
- success: False
- control steps: 679 (13.4s at 51 Hz)
- policy inferences: 118 (replan_steps=6)
- video:
blocks/ep043/rollout.mp4 - features:
118prefix tensors (prefix; model=``)
Semantic timeline
| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | reaching toward yellow block |
| 3.0–6.0 | 152–303 | 25–50 | closing gripper and lifting empty |
| 6.0–9.0 | 304–455 | 50–75 | moving empty gripper toward target |
| 9.0–12.0 | 456–607 | 76–101 | hovering over wooden block |
| 12.0–13.4 | 608–678 | 101–113 | idle above wooden block |
Failure
- yes
- onset type: obvious_mistake
- onset: 4.130434782608695 s (00:04.1)
- frame / control_step: 209 (policy_step=34, chunk_index=5)
- coarse onset: 3.5 s (refined=True)
- mode: grasp_failure
- reason: The robot attempted to grasp the yellow block, but the gripper closed without securing the object, leaving the yellow block on the table while the arm lifted. Summary: failed grasp on yellow block; arm lifted empty
- recovery: Descend back to the yellow block, realign the gripper, securely close on the block, and lift it to stack on the wooden block. Summary: re-grasp yellow block; stack on wooden block
- prevention: Ensure the end-effector is precisely aligned over the yellow block and maintain sufficient grasp contact before attempting to lift. Summary: align gripper centered; secure grasp before lifting
- justification: At around 3.5 seconds, the gripper attempts to close on the yellow block but fails to acquire it. The robot then lifts its empty gripper into the air and proceeds without the yellow block.