assembling_gift_baskets 203, search v6b dev replay
BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run v6b_dev
Harm gate: rejected. wicker_basket_90 dropped 0.31 m to the floor, wicker_basket_90 tipped 74 degrees, wicker_basket_90 moved 0.65 m, wicker_basket_92 dropped 0.40 m to the floor, wicker_basket_92 tipped 83 degrees, wicker_basket_92 moved 0.87 m.
rejected 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 10 s. It ended rejected: harm: wicker_basket_90 dropped 0.31 m to the floor, wicker_basket_90 tipped 74 degrees, wicker_basket_90 moved 0.65 m, wicker_basket_92 dropped 0.40 m to the floor, wicker_basket_92 tipped 83 degrees, wicker_basket_92 moved 0.87 m.
Other search v2 runs of this case: v2_smoke, failed, v2c_fixed, pass, v2d_orig_grab, rejected, exp_A, rejected, exp_B, rejected, exp_C, failed, expC_harm, failed, v3_tuned, pass, v5b_on_a, failed, v5b_off_a, failed, v6_dev, not found, v6c_dev, rejected.
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 | 0:10 | |
| Approach | 0:10 | 0:27 | |
| Grasp | 0:27 | 0:38 | descend to the grasp; finger contact at 0.037 m; close the gripper |
| Lift and hold | 0:38 | 0:44 | |
| Outcome | 0:44 | 0:44 | rejected: harm: wicker_basket_90 dropped 0.31 m to the floor, wicker_basket_90 tipped 74 degrees, wicker_basket_90 moved 0.65 m, wicker_basket_92 dropped 0.40 m to the floor, wicker_basket_92 tipped 83 degrees, wicker_basket_92 moved 0.87 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 14 other object(s): butter_cookie_84 0.991 m, bow_75 0.965 m, butter_cookie_82 0.949 m, bow_74 0.933 m | 0:28 |
Old clips of this case: failure clip, disturb.
All cases. Results come from the attempt's result.json in the recov50 v6b_dev run, seed 0.