# t000__ep009__blocks

- **suite / variant:** `` / ``
- **instruction:** Stack the yellow block on the wooden block
- **success:** True
- **control steps:** 670  (13.1s at 51 Hz)
- **policy inferences:** 115  (replan_steps=6)
- **video:** `blocks/ep009/rollout.mp4`
- **features:** `115` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–152 | 0–25 | reaching for yellow block |
| 3.0–6.0 | 153–305 | 25–50 | grasping and lifting yellow block |
| 6.0–9.0 | 306–458 | 51–76 | carrying yellow block to wooden block |
| 9.0–12.0 | 459–611 | 76–101 | stacking yellow block on wooden block |
| 12.0–13.1 | 612–669 | 102–111 | releasing block and retracting arm |

## Failure

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