# t000__ep006__blocks

- **suite / variant:** `` / ``
- **instruction:** Stack the yellow block on the wooden block
- **success:** True
- **control steps:** 760  (15.0s at 51 Hz)
- **policy inferences:** 130  (replan_steps=6)
- **video:** `blocks/ep006/rollout.mp4`
- **features:** `130` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | reaching for yellow block |
| 3.0–6.0 | 152–303 | 25–50 | grasping yellow block |
| 6.0–9.0 | 304–455 | 50–75 | stacking yellow block on wooden block |
| 9.0–12.0 | 456–607 | 76–101 | releasing yellow block |
| 12.0–15.0 | 608–759 | 101–126 | retracting arm to home position |

## Failure

No. Episode succeeded; Dan failure VLM was not run.