collecting_childrens_toys 200, search v5b on a replay

BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run v5b_on_a

Harm gate: accepted. Nothing fell, tipped or moved more than 0.30 m.

pass The phase is to pick up the dice from the bed. The dice was out of view at the restore, and the search found it with the head camera after 11 s. It passed the phase detector.

Other search v2 runs of this case: v2_smoke, failed, v2c_fixed, failed, v2d_orig_grab, pass, exp_A, pass, exp_B, pass, exp_C, pass, expC_harm, pass, v3_tuned, pass, v5b_off_a, pass, v6_dev, pass, v6b_dev, pass, v6c_dev, 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.

Stage timeline

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

Old clips of this case: search v1 before and after, failure clip, not visible.

All cases. Results come from the attempt's result.json in the recov50 v5b_on_a run, seed 0.