picking_up_trash 203, 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. coffee_table_koagbh_0 moved 0.37 m, can_of_soda_114 tipped 72 degrees, can_of_soda_114 moved 1.20 m, can_of_soda_115 tipped 157 degrees, can_of_soda_115 moved 1.07 m, trash_can_116 tipped 63 degrees, trash_can_116 moved 1.14 m.
rejected 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 15 s. The reach plateaued once and the stall reset fired no times. It ended rejected: harm: coffee_table_koagbh_0 moved 0.37 m, can_of_soda_114 tipped 72 degrees, can_of_soda_114 moved 1.20 m, can_of_soda_115 tipped 157 degrees, can_of_soda_115 moved 1.07 m, trash_can_116 tipped 63 degrees, trash_can_116 moved 1.14 m.
Other search v2 runs of this case: v3_heldout, failed, 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 | 0:15 | |
| Approach | 0:15 | 0:35 | 1 base move, 1 reach plateau |
| Grasp | 0:35 | 0:37 | descend to the grasp; close the gripper |
| Lift and hold | 0:37 | 0:40 | |
| Outcome | 0:40 | 0:40 | rejected: harm: coffee_table_koagbh_0 moved 0.37 m, can_of_soda_114 tipped 72 degrees, can_of_soda_114 moved 1.20 m, can_of_soda_115 tipped 157 degrees, can_of_soda_115 moved 1.07 m, trash_can_116 tipped 63 degrees, trash_can_116 moved 1.14 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
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.