# t000__ep020__blocks

- **suite / variant:** `` / ``
- **instruction:** Stack the yellow block on the wooden block
- **success:** True
- **control steps:** 2153  (42.7s at 50 Hz)
- **policy inferences:** 371  (replan_steps=6)
- **video:** `blocks/ep020/rollout.mp4`
- **features:** `371` 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 and moving yellow block |
| 6.0–9.0 | 302–452 | 50–75 | placing yellow block on wooden block |
| 9.0–12.0 | 453–603 | 75–100 | holding yellow block in place |
| 12.0–15.0 | 604–754 | 100–125 | holding yellow block in place |
| 15.0–18.0 | 755–905 | 125–150 | holding yellow block in place |
| 18.0–21.0 | 906–1056 | 151–176 | holding yellow block in place |
| 21.0–24.0 | 1057–1207 | 176–201 | holding yellow block in place |
| 24.0–27.0 | 1208–1358 | 201–226 | holding yellow block in place |
| 27.0–30.0 | 1359–1509 | 226–251 | holding yellow block in place |
| 30.0–33.0 | 1510–1660 | 251–276 | holding yellow block in place |
| 33.0–36.0 | 1661–1811 | 276–301 | holding yellow block in place |
| 36.0–38.9 | 1812–1962 | 302–327 | holding yellow block in place |
| 38.9–41.9 | 1963–2113 | 327–352 | releasing block and raising gripper |
| 41.9–42.7 | 2114–2152 | 352–358 | retracting arm to home position |

## Failure

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