assembling_gift_baskets 203, search expC harm replay
BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run expC_harm
Harm gate: accepted. Nothing fell, tipped or moved more than 0.30 m.
failed The phase is to pick up the pillar candle from the coffee table. The pillar candle was out of view at the restore, and the search found it with the head camera after 10 s. The reach plateaued 3 times and the stall reset fired no times. It ended failed: reach plateau in descend: goal error stuck at 0.04 m for 3 s after 2 reposition(s).
Other search v2 runs of this case: v2_smoke, failed, v2c_fixed, pass, v2d_orig_grab, rejected, exp_A, rejected, exp_B, rejected, exp_C, failed, v3_tuned, pass, v5b_on_a, failed, v5b_off_a, failed, v6_dev, not found, v6b_dev, rejected, v6c_dev, rejected.
The clips play at 2 times sim speed by default, and the speed menu changes that. The timeline shows the recoverer's stage, whether the target is inside the head camera's view while it reaches (from the gaze log), and the labelled events. Click a row to jump there. The robot panel sums up the attempt and the phases list follows the stages.
- Task
- -
- Instruction
- -
- Step
- -
- Sim time
- -
- Q
- -
- Driving
- -
Timeline
Q over time
Robot
- State
- -
Phases
The instruction follows the current phase and moves on when the phase detector confirms it. A typed instruction overrides it until you go back to the task sentence.
Last command
| part | 1 | 2 | 3 | 4 | 5 | 6 | 7 | gripper |
|---|
Look-around
Events
- Nothing yet.
Stage timeline
| stage | from | to | detail |
|---|---|---|---|
| Search | 0:00 | 0:04 | |
| Drive to the target | 0:04 | 0:10 | |
| Approach | 0:10 | 0:32 | 2 base moves, 2 reach plateaus, 2 contacts |
| Grasp | 0:32 | 0:36 | descend to the grasp; finger contact at 0.032 m; close the gripper |
| Approach | 0:36 | 0:37 | |
| Grasp | 0:37 | 0:37 | descend to the grasp |
| Outcome | 0:37 | 0:37 | failed: reach plateau in descend: goal error stuck at 0.04 m for 3 s after 2 reposition(s) |
Plan and path maps
The plan map is where the search meant to look, from the restore. The path map is where the base went: the search path, then the recovery path.
Earlier attempts
| run | outcome | cause | length |
|---|---|---|---|
| pilot | rejected | disturbed 14 other object(s): butter_cookie_84 0.991 m, bow_75 0.965 m, butter_cookie_82 0.949 m, bow_74 0.933 m | 0:28 |
Old clips of this case: failure clip, disturb.
All cases. Results come from the attempt's result.json in the recov50 expC_harm run, seed 0.