picking_up_trash 200, search expC heldout replay
BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run expC_heldout
Harm gate: rejected. can_of_soda_113 moved 2.43 m, can_of_soda_115 dropped 0.19 m, can_of_soda_115 tipped 108 degrees, can_of_soda_115 moved 2.28 m, trash_can_116 dropped 0.14 m, trash_can_116 tipped 73 degrees, trash_can_116 moved 2.35 m.
failed The phase is to pick up the can of soda from the floors. The can of soda was out of view at the restore, and the search found it with the head camera after 16 s. The reach plateaued 3 times and the stall reset fired no times. It ended failed: reach plateau in approach: goal error stuck at 0.08 m for 3 s after 2 reposition(s).
Other search v2 runs of this case: v3_heldout, not found, v3c_b, pass, v4_b, pass, v5_b, pass, v5b_on_b, pass, v5b_off_b, pass.
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 | 0:14 | found by the head camera |
| Drive to the target | 0:14 | 0:16 | |
| Approach | 0:16 | 0:24 | |
| Grasp | 0:24 | 0:28 | descend to the grasp |
| Approach | 0:28 | 0:39 | 1 base move, 1 contact |
| Grasp | 0:39 | 0:42 | descend to the grasp |
| Approach | 0:42 | 0:58 | 2 base moves, 1 reach plateau |
| Outcome | 0:58 | 0:58 | failed: reach plateau in approach: goal error stuck at 0.08 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
No earlier seed 0 attempt of this case.
All cases. Results come from the attempt's result.json in the recov50 expC_heldout run, seed 0.