BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29
The scripted recoverer is rerun on the same 51 recovery cases after each round of changes. Each table below is one round, newest first, and each column is one run of it, described under the heading.
How to read a cell. pass means the phase detector confirmed the phase. failed means it did not, and the text after the time says why. rejected means the phase passed but the harm gate threw it out because something fell, tipped, moved more than 0.30 m or a goal was undone. skipped means the run had no recoverer for that phase. The time is sim time from the restore. Click an outcome for its replay.
A clean recording passed the phase detector and the harm gate, so it can be used as recovery training data. The held-out row is on tasks no run had seen and nothing was tuned on, and it is the number that shows whether the changes generalize.
| run | real attempts | clean | rejected for harm | skipped | clean cases |
|---|---|---|---|---|---|
| v6c held-out | 10 | 4 | 1 | 1 | putting_away_Halloween_decorations 206, set_up_a_coffee_station_in_your_kitchen 201, setting_the_fire 205, setting_the_fire 207 |
| v6c | 6 | 2 | 1 | 0 | collecting_childrens_toys 200, setting_mousetraps 202 |
| v6b held-out | 10 | 3 | 1 | 1 | putting_away_Halloween_decorations 206, set_up_a_coffee_station_in_your_kitchen 201, setting_the_fire 207 |
| v6b | 6 | 1 | 1 | 0 | collecting_childrens_toys 200 |
| v6 held-out | 10 | 3 | 1 | 1 | putting_away_Halloween_decorations 206, set_up_a_coffee_station_in_your_kitchen 201, setting_the_fire 207 |
| v6 | 6 | 1 | 0 | 0 | collecting_childrens_toys 200 |
| v5c held-out | 10 | 2 | 1 | 1 | putting_away_Halloween_decorations 206, set_up_a_coffee_station_in_your_kitchen 201 |
| v5c | 4 | 0 | 0 | 0 | - |
| v5b held-out, tight grasp | 10 | 1 | 1 | 1 | set_up_a_coffee_station_in_your_kitchen 201 |
| v5b held-out, original grab | 10 | 2 | 1 | 1 | putting_away_Halloween_decorations 206, set_up_a_coffee_station_in_your_kitchen 201 |
| v5b, tight grasp | 22 | 4 | 1 | 2 | collecting_childrens_toys 200, picking_up_trash 200, picking_up_trash 203, picking_up_trash 204 |
| v5b, original grab | 22 | 5 | 1 | 2 | assembling_gift_baskets 201, collecting_childrens_toys 200, picking_up_trash 200, picking_up_trash 203, picking_up_trash 204 |
| v5, held-out | 10 | 1 | 1 | 1 | set_up_a_coffee_station_in_your_kitchen 201 |
| v5 | 18 | 3 | 0 | 4 | picking_up_trash 200, picking_up_trash 203, picking_up_trash 204 |
| v4 | 17 | 2 | 1 | 5 | picking_up_trash 200, picking_up_trash 203 |
| v3c | 14 | 2 | 1 | 5 | picking_up_trash 200, picking_up_trash 203 |
| v3 | 16 | 2 | 0 | 1 | assembling_gift_baskets 203, collecting_childrens_toys 200 |
| C, harm gate | 8 | 2 | 4 | 0 | assembling_gift_baskets 201, collecting_childrens_toys 200 |
| C | 4 | 2 | 0 | 0 | assembling_gift_baskets 201, collecting_childrens_toys 200 |
| B | 4 | 2 | 1 | 0 | assembling_gift_baskets 201, collecting_childrens_toys 200 |
| A | 4 | 2 | 1 | 0 | assembling_gift_baskets 201, collecting_childrens_toys 200 |
| Original grab | 4 | 2 | 1 | 0 | assembling_gift_baskets 201, collecting_childrens_toys 200 |
| Search v2, fixed | 4 | 1 | 0 | 0 | assembling_gift_baskets 203 |
| Search v2 | 4 | 0 | 0 | 0 | - |
The never-seen tasks with cuRobo planning the stance and the base path. v6c gives 4 of 10 clean recordings, with setting_the_fire 205 new, against 3 of 10 for v6 and v6b and 2 of 10 for v5c, which has its own table below.
| case and phase | v6c held-out | v6b held-out | v6 held-out |
|---|---|---|---|
| bringing_in_wood 201 pick up the plywood from the floors | not found, 0:15: not found after 8 search spots, 7 never reached: no base path to the look spot | not found, 0:15: not found after 4 search spots, 3 never reached: the arms could not tuck without touching the robot | not found, 0:58: not found after 4 search spots, 2 never reached: no base path |
| cleaning_up_plates_and_food 204 open the fridge | failed, 0:50: the door opened, but not wide enough to reach in | failed, 0:52: the door did not open | failed, 0:45: the door did not open |
| getting_organized_for_work 206 | skipped: the demos push the keyboard first | skipped: the demos push the keyboard first | skipped: the demos push the keyboard first |
| getting_organized_for_work 206 alt pick up the keyboard from the notebook | failed, 0:07: no clear spot within reach | failed, 0:07: no clear spot within reach | failed, 0:07: no clear spot within reach |
| loading_the_car 201 pick up the digital camera from the coffee table | not found, 0:12: not found after 8 search spots, 7 never reached: the arms could not tuck without touching the robot | not found, 0:12: not found after 4 search spots, 3 never reached: the arms could not tuck without touching the robot | failed, 0:02: base move blocked by car_ssxsje_0 |
| putting_away_Halloween_decorations 206 pick up the pillar candle from the floors | pass, 0:17 | pass, 0:17 | pass, 0:17 |
| set_up_a_coffee_station_in_your_kitchen 200 place the coffee cup on the saucer | failed, 0:22: no clear spot within reach for the carry | failed, 0:22: no clear spot within reach for the carry | failed, 0:22: no clear spot within reach for the carry |
| set_up_a_coffee_station_in_your_kitchen 201 pick up the paper coffee filter from the countertop | pass, 0:09 | pass, 0:09 | pass, 0:09 |
| setting_the_fire 205 pick up the firewood from the floors | pass, 0:42 | not found, 0:06: not found after 8 search spots, 7 never reached: the arms could not tuck without touching the robot | failed, 0:06: base move blocked by wood_fireplace_gpnsij_0 |
| setting_the_fire 207 pick up the firewood from the floors | pass, 0:45 | pass, 0:35 | pass, 0:34 |
| sorting_household_items 207 pick up the box of sanitary napkins from the hamper | rejected, 1:49: harm (goal undone, moved far, tipped) | rejected, 1:17: harm (goal undone, moved far, tipped) | rejected, 1:35: harm (goal undone, moved far, tipped) |
The development cases and the toys 200 control with cuRobo. v6c gives clean recordings on 2 of the 5 cases, with setting_mousetraps 202 new, against 1 of 5 for v6 and v6b. The three v6 jobs took about 2.4 GPU-hours, the three v6b jobs about 3.8 and the three v6c jobs about 3.6.
| case and phase | v6c | v6b | v6 |
|---|---|---|---|
| assembling_gift_baskets 203 pick up the pillar candle from the coffee table | rejected, 0:45: harm (fallen, moved far, tipped) | rejected, 0:44: harm (fallen, moved far, tipped) | failed, 0:00: base move blocked by wicker_basket_90, wicker_basket_92 |
| clean_up_your_desk 201 push the folder to the desk | failed, 0:35: the hand could not get above the object to push it | not found, 0:05: not found after 4 search spots, 3 never reached: no base path to the look spot | not found, 0:04: not found by the search |
| clean_up_your_desk 201 alt pick up the folder from the desk | failed, 0:07: seen once from 1.4 m away, but no base path led closer | failed, 0:04: base move blocked by eames_chair_hndxiw_0 | failed, 0:07: seen once from 1.4 m away, but no base path led closer |
| collecting_childrens_toys 200 pick up the dice from the bed | pass, 0:29 | pass, 0:29 | pass, 0:29 |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | not found, 1:50: not found after 5 search spots, 2 never reached: no base path to the look spot | not found, 0:04: not found after 5 search spots, 4 never reached: the arms could not tuck without touching the robot | failed, 0:00: base move blocked by mousetrap_50 |
| setting_mousetraps 202 pick up the mousetrap from the bottom cabinet | pass, 1:01 | not found, 0:10: not found after 5 search spots, 4 never reached: the arms could not tuck without touching the robot | failed, 0:06: base move blocked by toilet_udiezm_0 |
The never-seen tasks in v5b and v5c, tight grasp on and off; v5 has its own table below.
| case and phase | v5c held-out | v5b held-out, original grab | v5b held-out, tight grasp |
|---|---|---|---|
| bringing_in_wood 201 pick up the plywood from the floors | not found, 0:58: not found after 4 search spots, 2 never reached: no base path | not found, 0:58: not found after 4 search spots, 2 never reached: no base path | not found, 0:58: not found after 4 search spots, 2 never reached: no base path |
| cleaning_up_plates_and_food 204 open the fridge | failed, 0:08: ran out of time opening the door | failed, 0:07: ran out of time opening the door | failed, 0:08: ran out of time opening the door |
| getting_organized_for_work 206 | skipped: the demos push the keyboard first | skipped: the demos push the keyboard first | skipped: the demos push the keyboard first |
| getting_organized_for_work 206 alt pick up the keyboard from the notebook | failed, 0:16: base move blocked by desk_uqcmzf_0, swivel_chair_iiihwn_0 | failed, 0:16: base move blocked by desk_uqcmzf_0, swivel_chair_iiihwn_0 | failed, 0:16: base move blocked by desk_uqcmzf_0, swivel_chair_iiihwn_0 |
| loading_the_car 201 pick up the digital camera from the coffee table | failed, 0:02: base move blocked by car_ssxsje_0 | failed, 0:02: base move blocked by car_ssxsje_0 | failed, 0:02: base move blocked by car_ssxsje_0 |
| putting_away_Halloween_decorations 206 pick up the pillar candle from the floors | pass, 0:16 | pass, 0:16 | failed, 0:20: target followed the open hand |
| set_up_a_coffee_station_in_your_kitchen 200 place the coffee cup on the saucer | failed, 0:23: base move blocked by bottom_cabinet_no_top_rkgjer_0, coffee_maker_212, countertop_kelzer_0, dishwasher_ynrhuk_0, paper_coffee_filter_210 | failed, 0:23: base move blocked by bottom_cabinet_no_top_rkgjer_0, coffee_maker_212, countertop_kelzer_0, dishwasher_ynrhuk_0 | failed, 0:23: base move blocked by bottom_cabinet_no_top_rkgjer_0, coffee_maker_212, countertop_kelzer_0, dishwasher_ynrhuk_0 |
| set_up_a_coffee_station_in_your_kitchen 201 pick up the paper coffee filter from the countertop | pass, 0:09 | pass, 0:09 | pass, 0:09 |
| setting_the_fire 205 pick up the firewood from the floors | failed, 0:06: base move blocked by wood_fireplace_gpnsij_0 | failed, 0:06: base move blocked by wood_fireplace_gpnsij_0 | failed, 0:06: base move blocked by wood_fireplace_gpnsij_0 |
| setting_the_fire 207 pick up the firewood from the floors | failed, 1:33: timed out in base | failed, 1:33: timed out in base | failed, 1:33: timed out in base |
| sorting_household_items 207 pick up the box of sanitary napkins from the hamper | rejected, 1:35: harm (goal undone, moved far, tipped) | rejected, 1:20: harm (goal undone, moved far, tipped) | rejected, 1:20: harm (goal undone, moved far, tipped) |
The development cases and two that passed in earlier rounds, in v5b and v5c.
| case and phase | v5c | v5b, original grab | v5b, tight grasp |
|---|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | not in this run | pass, 0:29 | failed, 0:33: target followed the open hand |
| assembling_gift_baskets 203 pick up the pillar candle from the coffee table | not in this run | failed, 0:32: base move blocked by coffee_table_koagbh_0 | failed, 0:32: base move blocked by coffee_table_koagbh_0 |
| carrying_in_groceries 200 | not in this run | skipped: no match for the destination breakfast table | skipped: no match for the destination breakfast table |
| clean_up_your_desk 201 push the folder to the desk | not found, 0:04: not found by the search | error, 0:00: AttributeError: 'Pending' object has no attribute '_plan_chunk' | error, 0:00: AttributeError: 'Pending' object has no attribute '_plan_chunk' |
| clean_up_your_desk 201 alt pick up the folder from the desk | failed, 0:04: base move blocked by eames_chair_hndxiw_0 | failed, 0:04: base move blocked by eames_chair_hndxiw_0 | failed, 0:04: base move blocked by eames_chair_hndxiw_0 |
| clearing_food_from_table_into_fridge 200 push the half apple pie to the plate | not in this run | error, 0:00: ValueError: no free base pose reaches the push line (28 poses x 2 hand modes:... | error, 0:00: ValueError: no free base pose reaches the push line (28 poses x 2 hand modes:... |
| clearing_food_from_table_into_fridge 200 alt pick up the half apple pie from the plate | not in this run | failed, 0:16: arm could not reach (0.89 m short) | failed, 0:16: arm could not reach (0.89 m short) |
| collecting_childrens_toys 200 pick up the dice from the bed | not in this run | pass, 0:23 | pass, 0:23 |
| collecting_childrens_toys 206 push the board game to the bed | not in this run | error, 0:00: AttributeError: 'Pending' object has no attribute '_plan_chunk' | error, 0:00: AttributeError: 'Pending' object has no attribute '_plan_chunk' |
| collecting_childrens_toys 206 alt pick up the board game from the bed | not in this run | failed, 0:06: base move blocked by bookcase_zfpyqe_1 | failed, 0:06: base move blocked by bookcase_zfpyqe_1 |
| freeze_pies 200 open the bottom cabinet no top | not in this run | failed, 0:03: ran out of time opening the door | failed, 0:03: ran out of time opening the door |
| freeze_pies 200 alt pick up the tupperware from the bottom cabinet no top | not in this run | failed, 1:00: ran out of time opening the door | failed, 1:00: ran out of time opening the door |
| hiding_Easter_eggs 202 pick up the easter egg from the wicker basket | not in this run | failed, 0:44: base move blocked by playground_xdlcdi_0 | failed, 0:44: base move blocked by playground_xdlcdi_0 |
| moving_boxes_to_storage 200 pick up the storage box from the floors | not in this run | not found, 0:28: not found after 4 search spots, 3 never reached: no base path | not found, 0:28: not found after 4 search spots, 3 never reached: no base path |
| picking_up_trash 200 place the trash can on the floors | not in this run | pass, 0:14 | pass, 0:14 |
| picking_up_trash 203 place the trash can on the floors | not in this run | pass, 0:17 | pass, 0:17 |
| picking_up_trash 204 place the trash can on the floors | not in this run | pass, 0:16 | pass, 0:16 |
| preparing_lunch_box 203 open the fridge | not in this run | failed, 0:18: ran out of time opening the door | failed, 0:03: ran out of time opening the door |
| preparing_lunch_box 203 alt pick up the bottle of tea from the fridge | not in this run | failed, 0:01: arm could not reach (1.35 m short) | failed, 0:01: arm could not reach (1.35 m short) |
| preparing_lunch_box 207 open the fridge | not in this run | failed, 0:07: ran out of time opening the door | failed, 0:06: ran out of time opening the door |
| preparing_lunch_box 207 alt pick up the bottle of tea from the fridge | not in this run | failed, 0:01: arm could not reach (1.29 m short) | failed, 0:01: arm could not reach (1.29 m short) |
| putting_dishes_away_after_cleaning 201 pick up the plate from the countertop | not in this run | skipped: no recoverer for this kind of phase | skipped: no recoverer for this kind of phase |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | failed, 0:00: base move blocked by mousetrap_50 | rejected, 0:18: harm (moved far) | rejected, 0:18: harm (moved far) |
| setting_mousetraps 202 pick up the mousetrap from the bottom cabinet | failed, 0:06: base move blocked by toilet_udiezm_0 | failed, 0:06: base move blocked by toilet_udiezm_0 | failed, 0:06: base move blocked by toilet_udiezm_0 |
Tasks never seen before, the number that shows whether the changes generalize.
| case and phase | v5, held-out |
|---|---|
| bringing_in_wood 201 pick up the plywood from the floors | not found, 0:58: not found after 4 search spots, 2 never reached: no base path |
| cleaning_up_plates_and_food 204 open the fridge | failed, 0:13: seen once from 1.3 m away, but no base path led closer |
| getting_organized_for_work 206 | skipped: the demos push the keyboard first |
| getting_organized_for_work 206 alt pick up the keyboard from the notebook | failed, 0:16: base move blocked by desk_uqcmzf_0, swivel_chair_iiihwn_0 |
| loading_the_car 201 pick up the digital camera from the coffee table | failed, 0:02: base move blocked by car_ssxsje_0 |
| putting_away_Halloween_decorations 206 pick up the pillar candle from the floors | failed, 0:20: target followed the open hand |
| set_up_a_coffee_station_in_your_kitchen 200 place the coffee cup on the saucer | failed, 0:23: base move blocked by bottom_cabinet_no_top_rkgjer_0, coffee_maker_212, countertop_kelzer_0, dishwasher_ynrhuk_0 |
| set_up_a_coffee_station_in_your_kitchen 201 pick up the paper coffee filter from the countertop | pass, 0:09 |
| setting_the_fire 205 pick up the firewood from the floors | failed, 0:06: base move blocked by wood_fireplace_gpnsij_0 |
| setting_the_fire 207 pick up the firewood from the floors | failed, 1:33: timed out in base |
| sorting_household_items 207 pick up the box of sanitary napkins from the hamper | rejected, 0:08: harm (goal undone, moved far) |
The v4 failures fixed with general rules, on the development cases.
| case and phase | v5 | v4 |
|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | failed, 0:33: target followed the open hand | failed, 0:53: no grasp fits the gripper |
| carrying_in_groceries 200 | skipped: no match for the destination breakfast table | skipped: no match for the destination breakfast table |
| clean_up_your_desk 201 push the folder to the desk | no eligible target is visible to the policy's cameras | skipped: the demos push the folder first |
| clean_up_your_desk 201 alt pick up the folder from the desk | failed, 0:04: base move blocked by eames_chair_hndxiw_0 | failed, 0:03: base move blocked by eames_chair_hndxiw_0 |
| clearing_food_from_table_into_fridge 200 push the half apple pie to the plate | error, 0:00: ValueError: no free base pose reaches the push line | skipped: the demos push the half apple pie first |
| clearing_food_from_table_into_fridge 200 alt pick up the half apple pie from the plate | failed, 0:16: arm could not reach (0.89 m short) | failed, 0:17: arm could not reach (0.89 m short) |
| collecting_childrens_toys 206 | skipped: the demos push the board game first | skipped: the demos push the board game first |
| collecting_childrens_toys 206 alt pick up the board game from the bed | failed, 0:06: base move blocked by bookcase_zfpyqe_1 | failed, 0:06: base move blocked by bookcase_zfpyqe_1 |
| freeze_pies 200 open the bottom cabinet no top | failed, 1:07: ran out of time opening the door | failed, 0:00: base move blocked by drop_in_sink_awvzkn_0 |
| freeze_pies 200 alt pick up the tupperware from the bottom cabinet no top | failed, 1:00: ran out of time opening the door | failed, 0:00: base move blocked by drop_in_sink_awvzkn_0 |
| hiding_Easter_eggs 202 pick up the easter egg from the wicker basket | failed, 0:44: base move blocked by playground_xdlcdi_0 | failed, 0:13: base move blocked by playground_xdlcdi_0 |
| moving_boxes_to_storage 200 pick up the storage box from the floors | not found, 0:28: not found after 4 search spots, 3 never reached: no base path | not found, 0:27: not found after 4 search spots, 3 never reached: no base path |
| picking_up_trash 200 place the trash can on the floors | pass, 0:14 | pass, 0:15 |
| picking_up_trash 203 place the trash can on the floors | pass, 0:17 | pass, 0:16 |
| picking_up_trash 204 place the trash can on the floors | pass, 0:16 | rejected, 1:15: harm (fallen, goal undone, moved far, tipped) |
| preparing_lunch_box 203 open the fridge | failed, 1:08: ran out of time opening the door: fingers stopped 0.041 m short of the handle | failed, 0:39: the door did not open |
| preparing_lunch_box 203 alt pick up the bottle of tea from the fridge | failed, 0:01: arm could not reach (1.35 m short) | failed, 0:01: arm could not reach (1.35 m short) |
| preparing_lunch_box 207 open the fridge | failed, 1:08: ran out of time opening the door | failed, 1:07: ran out of time opening the door |
| preparing_lunch_box 207 alt pick up the bottle of tea from the fridge | failed, 0:01: arm could not reach (1.29 m short) | failed, 0:01: arm could not reach (1.29 m short) |
| putting_dishes_away_after_cleaning 201 pick up the plate from the countertop | skipped: no recoverer for this kind of phase | skipped: no recoverer for this kind of phase |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | failed, 0:00: base move blocked by serving_cart_vvtcby_0 | failed, 0:00: base move blocked by serving_cart_vvtcby_0 |
| setting_mousetraps 202 pick up the mousetrap from the bottom cabinet | failed, 0:06: base move blocked by toilet_udiezm_0 | failed, 0:06: base move blocked by toilet_udiezm_0 |
Push, open and interior place run for the first time.
| case and phase | v4 | v3c |
|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | failed, 0:53: no grasp fits the gripper | failed, 0:01: base move blocked by wicker_basket_90 |
| carrying_in_groceries 200 | skipped: no match for the destination breakfast table | skipped: the destination did not match a scene object |
| clean_up_your_desk 201 | skipped: the demos push the folder first | skipped: the demos push the folder first |
| clean_up_your_desk 201 alt pick up the folder from the desk | failed, 0:03: base move blocked by eames_chair_hndxiw_0 | failed, 0:02: base move blocked by eames_chair_hndxiw_0 |
| clearing_food_from_table_into_fridge 200 | skipped: the demos push the half apple pie first | skipped: the demos push the half apple pie first |
| clearing_food_from_table_into_fridge 200 alt pick up the half apple pie from the plate | failed, 0:17: arm could not reach (0.89 m short) | failed, 0:01: arm could not reach (0.18 m short) |
| collecting_childrens_toys 206 | skipped: the demos push the board game first | not in this run |
| collecting_childrens_toys 206 alt pick up the board game from the bed | failed, 0:06: base move blocked by bookcase_zfpyqe_1 | failed, 0:03: base move blocked by bookcase_zfpyqe_1, dice_268, dice_269 |
| freeze_pies 200 open the bottom cabinet no top | failed, 0:00: base move blocked by drop_in_sink_awvzkn_0 | skipped: the tupperware is behind a closed door |
| freeze_pies 200 alt pick up the tupperware from the bottom cabinet no top | failed, 0:00: base move blocked by drop_in_sink_awvzkn_0 | failed, 0:01: arm could not reach (1.00 m short) |
| hiding_Easter_eggs 202 pick up the easter egg from the wicker basket | failed, 0:13: base move blocked by playground_xdlcdi_0 | failed, 0:27: no grasp fits the gripper |
| moving_boxes_to_storage 200 pick up the storage box from the floors | not found, 0:27: not found after 4 search spots, 3 never reached: no base path | failed, 0:06: base move blocked by storage_box_80 |
| picking_up_trash 200 place the trash can on the floors | pass, 0:15 | pass, 0:15 |
| picking_up_trash 203 place the trash can on the floors | pass, 0:16 | pass, 0:16 |
| picking_up_trash 204 place the trash can on the floors | rejected, 1:15: harm (fallen, goal undone, moved far, tipped) | rejected, 1:15: harm (fallen, goal undone, moved far, tipped) |
| preparing_lunch_box 203 open the fridge | failed, 0:39: the door did not open | not in this run |
| preparing_lunch_box 203 alt pick up the bottle of tea from the fridge | failed, 0:01: arm could not reach (1.35 m short) | failed, 0:01: arm could not reach (1.35 m short) |
| preparing_lunch_box 207 open the fridge | failed, 1:07: ran out of time opening the door | not in this run |
| preparing_lunch_box 207 alt pick up the bottle of tea from the fridge | failed, 0:01: arm could not reach (1.29 m short) | failed, 0:01: arm could not reach (1.29 m short) |
| putting_dishes_away_after_cleaning 201 pick up the plate from the countertop | skipped: no recoverer for this kind of phase | skipped: no recoverer for this kind of phase |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | failed, 0:00: base move blocked by serving_cart_vvtcby_0 | failed, 0:00: base move blocked by mousetrap_48, mousetrap_50 |
| setting_mousetraps 202 pick up the mousetrap from the bottom cabinet | failed, 0:06: base move blocked by toilet_udiezm_0 | failed, 0:03: base move blocked by toilet_udiezm_0 |
Base avoidance, openables, held objects and tight grasps, then the fixed rerun.
| case and phase | v3 | v3c |
|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | failed, 0:06: seen once from 2.1 m away, but no base path led closer | failed, 0:01: base move blocked by wicker_basket_90 |
| assembling_gift_baskets 203 pick up the pillar candle from the coffee table | pass, 0:36 | not in this run |
| carrying_in_groceries 200 pick up the beefsteak tomato from the paper bag | failed, 0:44: robot tipped (0.34 rad) | skipped: the destination did not match a scene object |
| clean_up_your_desk 201 | not run | skipped: the demos push the folder first |
| clean_up_your_desk 201 alt pick up the folder from the desk | failed, 0:05: seen once from 1.4 m away, but no base path led closer | failed, 0:02: base move blocked by eames_chair_hndxiw_0 |
| clearing_food_from_table_into_fridge 200 | not run | skipped: the demos push the half apple pie first |
| clearing_food_from_table_into_fridge 200 alt pick up the half apple pie from the plate | failed, 0:17: arm could not reach (0.89 m short) | failed, 0:01: arm could not reach (0.18 m short) |
| collecting_childrens_toys 200 pick up the dice from the bed | pass, 0:25 | not in this run |
| collecting_childrens_toys 206 alt pick up the board game from the bed | failed, 1:01: timed out in descend (0.10 m short) | failed, 0:03: base move blocked by bookcase_zfpyqe_1, dice_268, dice_269 |
| freeze_pies 200 | not run | skipped: the tupperware is behind a closed door |
| freeze_pies 200 alt pick up the tupperware from the bottom cabinet no top | failed, 0:00: AttributeError: 'list' object has no attribute 'arm_names' | failed, 0:01: arm could not reach (1.00 m short) |
| hiding_Easter_eggs 202 pick up the easter egg from the wicker basket | failed, 0:56: no grasp fits the gripper | failed, 0:27: no grasp fits the gripper |
| moving_boxes_to_storage 200 pick up the storage box from the floors | not found, 0:27: not found after 4 search spots, 3 never reached: no base path | failed, 0:06: base move blocked by storage_box_80 |
| picking_up_trash 200 pick up the can of soda from the floors | not found, 0:08: not found after 6 search spots, 6 never reached: blocked | pass, 0:15 |
| picking_up_trash 203 pick up the can of soda from the floors | failed, 0:48: timed out in descend (0.04 m short) | pass, 0:16 |
| picking_up_trash 204 place the trash can on the floors | not run | rejected, 1:15: harm (fallen, goal undone, moved far, tipped) |
| preparing_lunch_box 203 alt pick up the bottle of tea from the fridge | failed, 0:00: AttributeError: 'list' object has no attribute 'arm_names' | failed, 0:01: arm could not reach (1.35 m short) |
| preparing_lunch_box 207 alt pick up the bottle of tea from the fridge | failed, 0:00: AttributeError: 'list' object has no attribute 'arm_names' | failed, 0:01: arm could not reach (1.29 m short) |
| putting_dishes_away_after_cleaning 201 pick up the plate from the countertop | skipped: no recoverer for this kind of phase | skipped: no recoverer for this kind of phase |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | not found, 0:53: not found after 5 search spots, 3 never reached: no base path | failed, 0:00: base move blocked by mousetrap_48, mousetrap_50 |
| setting_mousetraps 202 pick up the mousetrap from the bottom cabinet | failed, 0:35: robot tipped (0.32 rad) | failed, 0:03: base move blocked by toilet_udiezm_0 |
Back to the original grab, then one change at a time.
| case and phase | Original grab | A | B | C | C, harm gate |
|---|---|---|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | pass, 0:22 | pass, 0:22 | pass, 0:23 | pass, 0:18 | pass, 0:18 |
| assembling_gift_baskets 203 pick up the pillar candle from the coffee table | rejected, 0:30: disturbed 12 other objects | rejected, 0:30: disturbed 12 other objects | rejected, 0:28: disturbed 12 other objects | failed, 0:37: arm stuck in descend, 0.04 m short | failed, 0:37: arm stuck in descend, 0.04 m short |
| carrying_in_groceries 200 pick up the beefsteak tomato from the paper bag | not in this run | not in this run | not in this run | not in this run | rejected, 0:40: harm (fallen, moved far, tipped) |
| collecting_childrens_toys 200 pick up the dice from the bed | pass, 0:29 | pass, 0:29 | pass, 0:32 | pass, 0:24 | pass, 0:24 |
| collecting_childrens_toys 206 alt pick up the board game from the bed | failed, 0:26: arm stuck in approach, 0.48 m short | failed, 0:26: arm stuck in approach, 0.48 m short | failed, 0:26: arm stuck in approach, 0.48 m short | failed, 0:55: timed out in approach (0.08 m short) | failed, 0:55: timed out in approach (0.08 m short) |
| picking_up_trash 200 pick up the can of soda from the floors | not in this run | not in this run | not in this run | not in this run | rejected, 0:58: harm (fallen, moved far, tipped) |
| picking_up_trash 203 pick up the can of soda from the floors | not in this run | not in this run | not in this run | not in this run | rejected, 0:40: harm (moved far, tipped) |
| setting_mousetraps 201 pick up the mousetrap from the bottom cabinet | not in this run | not in this run | not in this run | not in this run | rejected, 1:29: harm (moved far) |
The first active search, which broke the grab.
| case and phase | Search v2 | Search v2, fixed |
|---|---|---|
| assembling_gift_baskets 201 pick up the pillar candle from the coffee table | failed, 1:35: timed out in stall_reset_arm | failed, 0:53: no grasp fits the gripper |
| assembling_gift_baskets 203 pick up the pillar candle from the coffee table | failed, 0:53: arm stuck in approach, 0.10 m short | pass, 1:16 |
| collecting_childrens_toys 200 pick up the dice from the bed | failed, 1:18: timed out in approach (0.19 m short) | failed, 1:34: timed out in base |
| collecting_childrens_toys 206 alt pick up the board game from the bed | failed, 0:41: arm stuck in approach, 0.76 m short | failed, 1:43: arm stuck in approach, 0.56 m short |
See also active search, before and after and why the scripted recoveries fail.