collecting_childrens_toys 206 alt, 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 board game from the bed. The board game was out of view at the restore, and the search found it with the head camera after 15 s. The reach plateaued 3 times and the stall reset fired no times. It switched to the left arm after the plateaus. It ended failed: timeout in approach, goal error 0.08 m.
Other search v2 runs of this case: v2_smoke, failed, v2c_fixed, failed, v2d_orig_grab, failed, exp_A, failed, exp_B, failed, exp_C, failed, v3_tuned, failed, v3c_a, not found, v4_a, not found, v5_a, not found, v5b_on_a, not found, v5b_off_a, not found.
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 | 0:06 | |
| Drive to the target | 0:06 | 0:15 | |
| Approach | 0:15 | 0:37 | 2 base moves, 1 reach plateau, 4 contacts |
| Grasp | 0:37 | 0:41 | descend to the grasp |
| Approach | 0:41 | 0:55 | 2 base moves, 1 reach plateau, 4 contacts, switch to the left arm |
| Outcome | 0:55 | 0:55 | failed: timeout in approach, goal error 0.08 m |
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 | failed | phase detector did not pass | 0:40 |
| a_cont | failed | reach plateau in approach: goal error stuck at 0.07 m for 3 s after 4 reposition(s) | 1:08 |
| rerun_plateau | failed | reach plateau in descend: goal error stuck at 0.08 m for 3 s after 2 reposition(s) | 0:35 |
Old clips of this case: failure clip, plateau.
All cases. Results come from the attempt's result.json in the recov50 expC_harm run, seed 0.