blocks/ep048/example.md

t000__ep048__blocks

• suite / variant: /
• instruction: Stack the yellow block on the wooden block
• success: False
• control steps: 1281 (25.4s at 50 Hz)
• policy inferences: 221 (replan_steps=6)
• video: blocks/ep048/rollout.mp4
• features: 221 prefix tensors (prefix; model=``)

Semantic timeline

seconds	control_step	policy_step	phrase
0.0–3.0	0–151	0–25	reaching and grasping yellow block
3.0–6.0	152–303	25–50	lifting and moving yellow block
6.0–9.0	304–455	50–75	lowering and releasing yellow block off-target
9.0–12.0	456–607	76–101	pressing gripper near blocks
12.0–15.0	608–759	101–126	hovering near blocks
15.0–18.1	760–911	126–151	lingering over blocks
18.1–21.1	912–1063	152–177	remaining stationary over blocks
21.1–24.1	1064–1215	177–202	hovering idle near blocks
24.1–25.4	1216–1280	202–213	idle / no progress

Failure

• yes
• onset type: obvious_mistake
• onset: 7.00990099009901 s (00:07.0)
• frame / control_step: 354 (policy_step=59, chunk_index=0)
• coarse onset: 8.0 s (refined=True)
• mode: placement_or_insertion_failure
• reason: The robot carries the yellow block to the wooden block but misaligns its position during release, placing the yellow block beside the wooden block instead of stacking it on top. Summary: misaligned placement; yellow block placed beside wooden block
• recovery: Re-grasp the yellow block, raise it above the wooden block, align it directly over the top surface, and place it down cleanly. Summary: re-grasp yellow block; align and stack on wooden block
• prevention: Position the yellow block vertically directly above the center of the wooden block before releasing the gripper to ensure a stable stacked placement. Summary: center yellow block above wooden block; release directly on top
• justification: The robot successfully grasps the yellow block and brings it to the target area, but at around 8.0 seconds, it misaligns the placement attempt, causing the yellow block to slip down beside the wooden block rather than resting on top.