assembling_gift_baskets 201, search v2c fixed replay
BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run v2c_fixed
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 22 s. The reach plateaued once and the stall reset fired once. It ended failed: no grasp fits the gripper (box [0.101, 0.101, 0.108] m, opening 0.11 m).
Other search v2 runs of this case: v2_smoke, failed, v2d_orig_grab, pass, exp_A, pass, exp_B, pass, exp_C, pass, expC_harm, pass, v3_tuned, not found, v3c_a, not found, v4_a, failed, v5_a, failed, v5b_on_a, failed, v5b_off_a, 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 | 0:08 | |
| Drive to the target | 0:08 | 0:22 | |
| Approach | 0:22 | 0:25 | |
| Grasp | 0:25 | 0:30 | descend to the grasp; finger contact at 0.050 m; close the gripper; the gripper closed on nothing; grasp missed, reach again |
| Approach | 0:30 | 0:30 | |
| Stall reset | 0:30 | 0:33 | stall check in descend at 0.10 m: nothing found; back the hand off 0.08 m; backed off (0.001 m left); arm back to its start pose; arm at its start pose, replan |
| Approach | 0:33 | 0:45 | 1 base move, 3 contacts |
| Grasp | 0:45 | 0:50 | descend to the grasp; grasp from the side instead of the top |
| Approach | 0:50 | 0:53 | 1 base move |
| Outcome | 0:53 | 0:53 | failed: no grasp fits the gripper (box [0.101, 0.101, 0.108] m, opening 0.11 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 | rejected | disturbed 8 other object(s): butter_cookie_84 0.33 m, swiss_cheese_80 0.288 m, butter_cookie_81 0.265 m, bow_73 0.264 m | 0:25 |
Old clips of this case: failure clip, disturb.
All cases. Results come from the attempt's result.json in the recov50 v2c_fixed run, seed 0.