sorting_household_items 207, search v6c held a replay
BEHAVIOR-1K 2026 challenge, issue 74, recov50 scripted recoveries, seed 0, Oct 23 to 29, run v6c_held_a
Harm gate: rejected. nextto bottle__of__detergent.n.01_1 bottle__of__detergent.n.01_2 (goal_undone), under bottle__of__detergent.n.01_2 sink.n.01_1 (goal_undone), bottle_of_detergent_227 tipped 59 degrees, bottle_of_detergent_227 moved 2.99 m.
rejected The phase is to pick up the box of sanitary napkins from the hamper. The box of sanitary napkins was out of view at the restore, and the search found it with the head camera after 21 s. It first put down the bottle of detergent to free a hand. The reach plateaued once and the stall reset fired no times. It ended rejected: harm: nextto bottle__of__detergent.n.01_1 bottle__of__detergent.n.01_2 (goal undone), under bottle__of__detergent.n.01_2 sink.n.01_1 (goal undone), bottle_of_detergent_227 tipped 59 degrees, bottle_of_detergent_227 moved 2.99 m.
Other search v2 runs of this case: v5_held_a, failed, v5b_on_held_a, not found, v5b_off_held_a, not found, v5c_held_a, not found, v6_held_a, not found, v6b_held_a, not found.
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
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- Instruction
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- Step
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- Sim time
- -
- Q
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- Driving
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Timeline
Q over time
Robot
- State
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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 |
|---|---|---|---|
| Put down | 0:00 | 0:45 | put down the bottle of detergent with the left hand on the floors |
| Search | 0:45 | 1:06 | found by the head camera |
| Approach | 1:06 | 1:30 | 1 reach plateau, 3 contacts |
| Grasp | 1:30 | 1:33 | descend to the grasp; close the gripper |
| Lift and hold | 1:33 | 1:49 | |
| Outcome | 1:49 | 1:49 | rejected: harm: nextto bottle__of__detergent.n.01_1 bottle__of__detergent.n.01_2 (goal undone), under bottle__of__detergent.n.01_2 sink.n.01_1 (goal undone), bottle_of_detergent_227 tipped 59 degrees, bottle_of_detergent_227 moved 2.99 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 v6c_held_a run, seed 0.