# Failure action summaries

The short (2–8 word, semicolon-separated) keyword summaries from the failure localizer, for all **169** episodes in `groot-libero-10-features-v3` with a localized failure — why it failed, what would recover it (after the fact), and what would have prevented it (beforehand). Extracted verbatim from each episode's `labels.json` (`vlm_failure_reason_summary` / `vlm_recovery_action_summary` / `vlm_prevention_action_summary`); the long-form sentence versions and the full per-episode context are in that same `labels.json` / `example.md`. See the main [`README.md`](README.md) `## Labels` section for the field definitions and [`gemini_prompts.md`](gemini_prompts.md) for the exact prompt that produced them.

| episode | failure mode | failure reason (summary) | recovery action (summary) | prevention action (summary) |
|---|---|---|---|---|
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep001` | grasp failure | grasp failure on second moka pot; hovering near handle | re-align gripper; grasp second moka pot; place on stove | align gripper with second moka pot; execute secure grasp |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep024` | grasp failure | failed grasp on leftmost moka pot; repeated missing of handle | regrasp leftmost moka pot; place on stove | align gripper with handle; ensure secure grasp |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep001` | grasp failure | failed to grasp moka pot; moving empty gripper | grasp moka pot; place on stove; turn on stove | secure grasp on moka pot; proceed to stove |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep003` | grasp failure | failed grasp; lifting empty gripper | re-align and grasp mug; place in microwave | improve grasp alignment; ensure depth before closing |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep004` | grasp failure | failed grasp on mug; misalignment of gripper | re-align and grasp mug; place in microwave | center gripper before grasping |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep006` | grasp failure | failed grasp attempt; collision with organizer | retreat gripper; grasp yellow mug; place in microwave | increase clearance height; target mug directly |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep007` | grasp failure | failed grasp on mug; lifting empty gripper | re-grasp yellow mug; place in microwave | align gripper precisely; secure grasp on mug |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep012` | grasp failure | failed grasp on yellow mug; lifting empty gripper | re-align gripper; grasp yellow mug; place in microwave | precise alignment before grasp; secure mug grasp |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep019` | grasp failure | failed grasp; knocking mug over | upright mug; grasp mug; place in microwave; close door | align gripper; grasp securely before lifting |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep023` | grasp failure | failed grasp attempt; pushing the mug instead of grasping | realign gripper; grasp mug; place in microwave | improve grasp alignment; secure mug before moving |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep024` | grasp failure | improper gripper alignment; failed grasp; mug tipped over | upright the mug; regrasp securely | align gripper with mug center; secure grasp |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep001` | grasp failure | failed grasp; object slipped from gripper | re-align gripper; grasp moka pot again | improve gripper alignment; secure grasp on moka pot |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep009` | grasp failure | failed grasp on white moka pot; gripper slipping off knob | re-grasp white moka pot; place on stove | grasp moka pot body; lift securely |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep012` | grasp failure | failed to grasp moka pot; repeated unsuccessful grasp attempts | realign gripper; grasp moka pot again | align gripper before closing; secure grasp |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep018` | grasp failure | failed grasp on white moka pot; lifting empty gripper | re-align and grasp white moka pot; place on stove | improve gripper alignment; secure grasp before lifting |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep019` | grasp failure | failed grasp attempt; lifting empty gripper | re-grasp moka pot; place on stove | align gripper; secure grip before lifting |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep020` | grasp failure | failed grasp on moka pot; robot stuck | retreat gripper; re-align and grasp moka pot | align gripper before grasping; secure grip on moka pot |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep024` | grasp failure | collision with cabinet; failed grasp attempt | lift arm; grasp moka pot; place on stove | increase arm elevation; avoid cabinet collision |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep022` | grasp failure | failed grasp on cream cheese box; moving empty gripper | re-align and grasp cream cheese; place in basket | improve gripper alignment before grasp |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep010` | grasp failure | grasp failure; white mug left behind | re-grasp white mug; place on left plate | align gripper; secure grasp before lifting |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep023` | grasp failure | failed grasp attempts on the white mug | realign gripper; grasp and place white mug | improve gripper alignment; secure grasp on white mug |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep018` | grasp failure | failed to grasp chocolate pudding; retreated empty-handed | re-grasp chocolate pudding; place to right of plate | align gripper properly; execute secure grasp |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep005` | object displacement | unstable grasp; mug rotated and dropped | re-grasp dropped mug; place in microwave | secure grasp on mug; prevent rotation |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep013` | object displacement | dropped mug during transport; lost grip | re-grasp mug; place in microwave; close door | secure grip on mug; avoid excessive tilt |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep022` | object displacement | dropped mug; lost grip during rotation | re-grasp knocked-over mug; place in microwave; close door | maintain secure grasp; lift mug steadily |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep004` | object displacement | collision with placed moka pot; displacing first moka pot | reposition displaced moka pot; place both on stove | aim for empty space; avoid collision with first moka pot |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep005` | object displacement | collision with first moka pot; dropping second moka pot | regrasp dropped moka pot; place on stove | lift moka pot higher; avoid collision with first pot |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep010` | object displacement | collision with first moka pot; displacing placed object | regrasp first moka pot; place on stove | place second pot carefully; avoid collision |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep012` | object displacement | losing grip on moka pot; dropping and tipping moka pot | upright fallen moka pot; place on stove | secure grip on moka pot; lift carefully |
| `normal/06_LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket/ep014` | object displacement | collision with alphabet soup carton; knocking over multiple items | upright alphabet soup; place both target items in basket | use higher approach trajectory; avoid early collision |
| `normal/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep002` | object displacement | dropping gripped white mug | re-grasp white mug; place on left plate | secure grip on white mug; lift carefully |
| `normal/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep003` | object displacement | collision with white mug; displacing white mug | reposition white mug on plate; place chocolate pudding | lift chocolate pudding higher; avoid white mug collision |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep015` | object displacement | collision with basket; dropping moka pot | reposition basket; place moka pot on stove | lift moka pot higher; avoid basket collision |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep014` | object displacement | knocking over white cube; cube blocking drawer closure | clear white cube; close bottom drawer | retract arm vertically; avoid white cube |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep016` | object displacement | collision with white cube; unable to close drawer | clear fallen cube; close drawer | retract straight back; avoid white cube |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep021` | object displacement | collision with stand and book; disrupted alignment | clear obstacles; close drawer | retract higher; avoid obstacles |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep002` | object displacement | colliding with mug; tipping and displacing object | upright yellow mug; grasp securely | approach from higher angle; avoid premature contact |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep013` | object displacement | dropping gripped mug; unstable grasp | re-grasp fallen mug; place in microwave; close door | secure firm grasp; lift carefully |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep014` | object displacement | collision with mug; knocking mug over | grasp displaced mug; place in microwave | align gripper; avoid knocking mug |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep020` | object displacement | colliding with mug; knocking mug over | re-grasp knocked-over mug; upright and place in microwave | approach from higher angle; secure grasp without knocking |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep003` | object displacement | knocking over moka pot; failed grasp attempt | grasp fallen moka pot; place on stove | improve grasp alignment; avoid displacing object |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep015` | object displacement | colliding with white moka pot; displacing target object | retrieve white moka pot; place on stove | align gripper with white moka pot; grasp cleanly |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep022` | object displacement | dropping grasped moka pot; loss of gripper control | re-grasp dropped moka pot; place on stove | ensure secure grasp; lift carefully |
| `occluded/06_LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket/ep005` | object displacement | knocking over alphabet soup; unable to grasp fallen object | grasp fallen can; place in basket | center gripper on can; avoid tipping object |
| `occluded/06_LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket/ep019` | object displacement | dropped alphabet soup can; insecure grasp | re-grasp fallen can; place both cans in basket | secure grasp on can; lift slowly |
| `occluded/06_LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket/ep020` | object displacement | knocking over soup can; failed grasp | re-align gripper to horizontal can; place in basket | approach vertically; avoid side contact |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep008` | object displacement | knocking cream cheese box off table | replace cream cheese box; grasp and place in basket | align gripper properly; avoid pushing object |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep014` | object displacement | dropping grasped cream cheese box; idle behavior | retrieve cream cheese; place both items in basket | secure grasp; safe transport to basket |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep015` | object displacement | knocking cream cheese box off table | retrieve cream cheese; place in basket | align gripper with cream cheese; avoid pushing object |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep017` | object displacement | collision with organizer box; dropping cream cheese | upright organizer; grasp cream cheese; place in basket | lift higher vertically; avoid horizontal obstacles |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep001` | object displacement | collision with white mug; knocking mug off plate | regrasp white mug; place on plate; move chocolate pudding | widen arm trajectory; avoid colliding with mug |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep004` | object displacement | collision with white mug; knocking mug off plate | re-grasp mug; place mug on plate | lift pudding higher; avoid colliding with mug |
| `normal/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep002` | open / close failure | unsuccessful push angle; pressing downward instead of inward | realign gripper; push drawer horizontally | approach drawer horizontally; push inward to close |
| `normal/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep013` | open / close failure | misaligned push on drawer; gripper wedged under handle | reposition gripper; push drawer closed | align gripper with drawer front; push horizontally |
| `normal/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep024` | open / close failure | misaligned push on drawer; drawer remains open | reposition gripper; push drawer straight back to close | align gripper with drawer center; push straight back |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep001` | open / close failure | failed to close microwave door; poor gripper alignment | reposition arm; push microwave door shut | align gripper with door; apply closing force |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep000` | open / close failure | misaligned push on drawer; drawer remains open | re-align gripper; push drawer closed | approach perpendicularly; push straight to close |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep005` | open / close failure | ineffective pushing angle; drawer remains open | realign gripper; push bottom drawer closed | align perpendicular to handle; push straight |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep006` | open / close failure | misaligned push on drawer; collision with pedestal | realign gripper; push drawer closed | target drawer center; avoid pedestal |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep007` | open / close failure | poor alignment; failed to push drawer closed | realign gripper; push drawer straight | align gripper with handle; push along sliding axis |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep008` | open / close failure | ineffective pushing angle; drawer does not close | realign gripper; push drawer straight to close | align gripper perpendicular; push along sliding axis |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep012` | open / close failure | improper pushing angle; drawer left partially open | realign gripper; push drawer fully closed | align gripper straight; push drawer smoothly |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep013` | open / close failure | collision with book and stand; failure to close drawer | align with drawer handle; push drawer closed | retract carefully; avoid collision with book; close drawer |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep017` | open / close failure | misaligned push on drawer; gripper stuck on cabinet frame | retract gripper; realign and push drawer closed | align with drawer axis; push straight forward |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep019` | open / close failure | collision with pedestal; failed to close drawer due to misalignment | re-align arm; push drawer closed | widen trajectory; avoid pedestal collision |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep020` | open / close failure | failed to close drawer; gripper slipped off drawer face | realign gripper; push drawer closed | align perpendicular; push drawer straight |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep023` | open / close failure | gripper slipped off drawer; drawer left partially open | re-align gripper; push drawer fully closed | push drawer straight-on; maintain contact until closed |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep010` | open / close failure | gripper slipped off drawer handle; drawer partially opened | re-grasp handle; open drawer fully; place moka pots on stove | maintain secure grasp; pull drawer completely open |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep004` | placement / insertion | improper placement; releasing mug prematurely on the edge | regrasp mug; place inside microwave; close door | insert mug fully; verify stability before release |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep007` | placement / insertion | collision with microwave lip; misaligned mug placement | re-grasp mug; place fully inside; close door | increase approach height; clear microwave lip |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep014` | placement / insertion | mug placed too shallowly; outside microwave heating region | reopen door; push mug deeper; close door | insert mug deeper; close door |
| `normal/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep024` | placement / insertion | improper placement of mug; mug resting outside heating region | open door; place mug inside; close door | align mug centrally; insert deeper into microwave |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep003` | placement / insertion | collision during placement; unstable placement of second moka pot | regrasp second moka pot; place on stove | avoid collision; align second moka pot |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep017` | placement / insertion | improper placement of second moka pot; collision with first pot | regrasp second moka pot; place on cooking region | leave space on stove; align second pot carefully |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep023` | placement / insertion | collision with placed moka pot; failed placement | reposition first moka pot; place second moka pot | target open stove area; avoid collision with placed pot |
| `normal/06_LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket/ep018` | placement / insertion | releasing object outside basket; placement failure | retrieve alphabet soup; place in basket | align gripper over basket; release inside basket |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep001` | placement / insertion | improper placement; mug fell out of microwave | retrieve mug; place in microwave; close door | insert mug fully; verify stable placement |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep008` | placement / insertion | collision with microwave frame; failed placement of mug | re-grasp mug; place upright in microwave; close door | lift higher; align with microwave opening center |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep011` | placement / insertion | collision with microwave frame; misaligned insertion | regrasp mug; place inside microwave; close door | lift mug higher; align before insertion |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep018` | placement / insertion | premature release of mug; mug fell out of microwave | retrieve fallen mug; place in microwave; close door | insert mug fully before releasing; close door |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep018` | placement / insertion | premature release of cream cheese box; missing basket | retrieve dropped cream cheese; place both items in basket | align fully over basket; release inside container |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep024` | placement / insertion | premature release of object; object fell behind basket | retrieve cream cheese; place cream cheese and butter in basket | align gripper over basket before releasing |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep024` | placement / insertion | missed plate during placement; white mug placed on table | re-grasp white mug; place on left plate | align white mug over plate; release precisely on plate |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep003` | placement / insertion | incorrect mug orientation; failed placement on plate | re-grasp mug; orient upright; place on plate | maintain upright orientation; place mug on plate |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep006` | placement / insertion | incorrect mug placement; placing mug on table instead of plate | re-grasp mug; place mug on plate; move pudding to right of plate | align mug with plate; place mug on plate |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep007` | placement / insertion | placed mug tilted on its side; unsatisfied on predicate | regrasp mug; orient upright; place flat on plate | maintain upright orientation; align mug vertically before placement |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep008` | placement / insertion | unstable placement of mug; mug tipped over | re-grasp white mug; place upright on plate | align mug vertically; center on plate before release |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep009` | placement / insertion | incorrect mug placement; releasing mug on table instead of plate | re-grasp white mug; place on plate | align mug over plate; release on plate |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep012` | placement / insertion | improper mug placement; mug landed tilted on plate | reposition mug flat on plate; place chocolate pudding | align and lower mug before release; ensure stable placement |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep020` | placement / insertion | improper placement of white mug; mug tilted on plate rim | re-grasp white mug; center on plate | align mug with plate center before release |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep021` | placement / insertion | improper placement of mug; mug resting tilted | re-grasp mug; place flat on plate | align mug vertically; center over plate |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep023` | placement / insertion | unstable placement of white mug; mug tipped over | regrasp white mug; center on plate | align mug over plate center; ensure stable release |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep003` | placement / insertion | gripper failed to release book; book dragged out of caddy | re-align book; release book in compartment | fully open gripper; wait before retracting |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep019` | placement / insertion | shallow insertion; book falling out of caddy | re-grasp book; place securely in back compartment | insert book deeper; ensure stability before releasing |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep024` | placement / insertion | improper placement of book; failure to retract gripper | re-align and fully insert book; retract gripper | insert book deeper; retract gripper after release |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep007` | press failure | failed to rotate stove knob; slipped off knob | re-grasp and turn stove knob | align gripper and rotate knob fully |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep022` | press failure | failed to rotate stove knob; premature release | re-engage stove knob; rotate to turn on | securely grasp knob; complete rotation |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep004` | press failure | failed to turn stove knob; stuck at knob | turn stove knob; place moka pots on stove | secure grip on knob; turn stove knob cleanly |
| `normal/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep011` | stuck / no progress | stuck after grasping second moka pot | lift second moka pot; place on stove | continue motion after grasping |
| `normal/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep020` | stuck / no progress | robot arm stuck; failed to reach chocolate pudding | reset arm; grasp and place pudding | optimize motion planning; avoid joint singularities |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep000` | stuck / no progress | stuck pressing container; failure to open container and retrieve moka pot | turn on stove; open container to get moka pot | fully turn knob; target container opening |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep005` | stuck / no progress | stuck near moka pot; failed to grasp | grasp moka pot; place on stove | improve trajectory planning; grasp moka pot successfully |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep006` | stuck / no progress | stuck on container; failing to retrieve moka pot | retract arm; open drawer; grasp moka pot | align with drawer handle; avoid container collision |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep010` | stuck / no progress | robot froze; no progress after reaching for moka pot | reset controller; grasp moka pot; place on stove | prevent controller freeze; improve motion planning near obstacles |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep012` | stuck / no progress | robot became stuck; failing to grasp moka pot | grasp moka pot; place on stove | improve transition control; grasp moka pot |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep013` | stuck / no progress | stuck hovering over container; failed to retrieve moka pot | open container; retrieve moka pot; place on stove | target container handle; open container; grasp moka pot |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep018` | stuck / no progress | stuck hovering over moka pot; no progress towards grasping | grasp moka pot; place on stove | descend to grasp moka pot; complete placement |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep019` | stuck / no progress | stuck hovering over moka pot; failure to grasp | grasp moka pot; place on stove | improve motion planning; execute grasp on moka pot |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep023` | stuck / no progress | robot froze; ceased movement over moka pot | reset controllers; grasp moka; place on stove | avoid singularities; maintain trajectory tracking |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep002` | stuck / no progress | collision with book; robot became stuck | retract arm; grasp handle and close drawer | lift arm vertically; avoid collision with book |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep017` | stuck / no progress | failed grasp attempt; robot became frozen | re-align gripper; grasp mug; place in microwave | improve grasp trajectory; avoid freezing |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep022` | stuck / no progress | stuck hovering near mug; failed to initiate grasp | realign and grasp mug; place in microwave; close door | improve approach trajectory; secure grasp on mug |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep000` | stuck / no progress | stuck pressing cabinet top; failed to open drawer | open drawer; retrieve moka pot; place on stove | target drawer handle; avoid cabinet top |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep002` | stuck / no progress | robot stuck hovering over drawer; no progress made | re-align with handle; open drawer | grasp handle; open drawer |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep005` | stuck / no progress | robot wedged against cabinet; unable to lift moka pot | back away from cabinet; re-grasp and lift moka pot | lift arm higher; avoid colliding with cabinet |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep006` | stuck / no progress | stuck on drawer; no progress | retract arm; open drawer | avoid collision; target handle or moka pot |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep007` | stuck / no progress | robot stuck hovering; no progress on drawer grasp | open drawer manually; place moka pots on stove | grasp handle and open drawer; retrieve moka pot |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep008` | stuck / no progress | failed grasp; frozen in place on object | retreat gripper; grasp moka pot properly; place on stove | improve grasping policy; secure moka pot; avoid freezing |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep011` | stuck / no progress | robot stuck behind cabinet; no further progress | disengage arm; retry grasp | adjust approach angle; avoid cabinet collision |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep013` | stuck / no progress | robot arm froze; no progress made after reaching drawer | reset controller; open drawer to retrieve moka pot | prevent controller freeze; open drawer and retrieve moka pot |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep014` | stuck / no progress | gripper stuck on moka pot lid; robot ceased movement | disengage gripper; grasp moka pot handle; place on stove | align grasp with handle; avoid top-down jamming |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep016` | stuck / no progress | robot stuck during grasp; no further progress made | reposition arm; grasp moka pot; place on stove | prevent controller lockup; maintain active motion planning |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep017` | stuck / no progress | stuck on cabinet; failing to target moka pots | retract gripper; grasp moka pots; place on stove | bypass cabinet; target moka pots directly |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep021` | stuck / no progress | robot froze in place; no further progress made | reset arm; grasp moka pot; place on stove | maintain active motion; target moka pot directly |
| `occluded/05_LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket/ep010` | stuck / no progress | stuck in loop; repeatedly grasping cream cheese box | grasp alphabet soup; place in basket | grasp alphabet soup; avoid looping |
| `occluded/05_LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket/ep012` | stuck / no progress | collision with binder; stuck against obstacle | retreat from binder; grasp alphabet soup; place in basket | avoid colliding with binder; navigate around obstacle |
| `occluded/05_LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket/ep021` | stuck / no progress | repeating grasp on empty space; ignoring alphabet soup | grasp alphabet soup; place in basket | target alphabet soup; avoid empty platform |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep000` | stuck / no progress | stuck in empty bin compartment; failed to locate second object | retract arm; locate and grasp butter; place in basket | search table for second object; avoid returning to bin early |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep001` | stuck / no progress | robot became stuck; hovering in place after first placement | grasp butter; place in basket | improve multi-stage policy; transition to second object |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep003` | stuck / no progress | robot froze after placing the first object; no progress on second object | unfreeze robot; pick and place cream cheese | improve multi-stage transition; prevent policy freezing |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep004` | stuck / no progress | robot became stuck; failed to retrieve cream cheese | grasp cream cheese; place in basket | target cream cheese; grasp and place in basket |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep012` | stuck / no progress | robot became stuck after dropping the first object; no attempt to grasp second object | grasp butter; place in basket | prevent freezing; transition to second object |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep013` | stuck / no progress | robot froze; no progress towards second object | grasp cream cheese; place in basket | transition to second object; prevent freezing |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep019` | stuck / no progress | robot became stuck and ceased moving | reset robot arm; place butter in basket | prevent policy freezing; improve trajectory generation |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep020` | stuck / no progress | stuck hovering over basket; failed to transition to second object | retract arm; grasp cream cheese; place in basket | improve state transition; avoid hovering after release |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep021` | stuck / no progress | robot froze after placing butter; stuck hovering above soup can | reset policy; grasp cream cheese; place in basket | improve policy stability; prevent controller freeze |
| `occluded/07_LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket/ep023` | stuck / no progress | stuck hovering after first placement; no progress towards second object | grasp cream cheese; place in basket | transition to second task phase; target cream cheese |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep009` | stuck / no progress | robot became stuck near left plate; no further progress | retract arm; grasp white mug; place on left plate | improve collision avoidance; avoid joint limits |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep011` | stuck / no progress | robot became stuck on the left; failed to grasp mugs | re-center arm; place white mug on left plate; place yellow-white mug on right plate | improve trajectory planning; prevent freezing on left side |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep020` | stuck / no progress | robot freezes near second mug; no further movement | grasp white mug; place on left plate | prevent controller freeze; continue task execution |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep000` | stuck / no progress | collision with mug and table; stuck during grasp attempt | disengage gripper; re-align and grasp pudding | lift arm higher; clear mug before moving |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep002` | stuck / no progress | stuck near white mug; failed to transition to chocolate pudding | grasp chocolate pudding; place right of plate | lift arm; move directly to chocolate pudding |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep005` | stuck / no progress | stuck after placing mug; failure to release grip | release mug; place chocolate pudding to the right | release mug after placement; transition to pudding |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep014` | stuck / no progress | collision with red mug; robot froze | avoid red mug; place pudding right of plate | avoid red mug; lift pudding cleanly |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep016` | stuck / no progress | robot froze after lifting; no progress made | resume motion; place mug; move pudding | prevent freezing; maintain continuous path planning |
| `occluded/09_LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate/ep024` | stuck / no progress | stuck near chocolate pudding; no further progress | lift gripper; grasp chocolate pudding; place right of plate | improve collision avoidance; prevent joint limit or tabletop collision |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep007` | stuck / no progress | gripper stuck in caddy compartment; failure to retract after placement | retract gripper; return to neutral | retract arm vertically; avoid post-placement collision |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep011` | stuck / no progress | stuck holding book; failure to release gripper | release gripper; retract arm | trigger gripper release upon insertion |
| `occluded/10_STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy/ep012` | stuck / no progress | robot froze after placing book; failed to release grip | release book; retract arm | open gripper; retract arm after placement |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep021` | timeout / insuff. progress | slow task execution; timeout before completion | place mug in microwave; close microwave door | faster grasping and transport; avoid delays |
| `occluded/04_KITCHEN_SCENE8_put_both_moka_pots_on_the_stove/ep023` | timeout / insuff. progress | insufficient time to place both moka pots | place second moka pot on stove | increase speed; place both moka pots |
| `occluded/02_KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it/ep003` | wrong object | grasping wrong object; knocking over book; failing to close drawer | release white box; close bottom drawer | push drawer closed; ignore white box |
| `occluded/05_LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket/ep001` | wrong object | targeted wrong object; grasping binder instead of alphabet soup | release binder; grasp alphabet soup; place in basket | target alphabet soup; avoid binder |
| `occluded/05_LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket/ep005` | wrong object | targeted wrong object; grasping binder instead of soup can | release binder; grasp alphabet soup; place in basket | target alphabet soup; avoid binder |
| `normal/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep008` | wrong target | placed white mug on wrong plate; idle behavior | move white mug to left plate; place yellow mug on right plate | move white mug to left plate; move yellow mug to right plate |
| `normal/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep014` | wrong target | swapped target plates; white mug on right and yellow mug on left | move yellow mug to right plate; move white mug to left plate | carry white mug to left plate; carry yellow mug to right plate |
| `normal/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep017` | wrong target | placed white mug on right plate; placed yellow mug on left plate | swap mug positions on plates | place white mug on left plate; place yellow mug on right plate |
| `normal/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep022` | wrong target | swapped target plates; white mug on right plate | move yellow/white mug to right; move white mug to left | place white mug left; place yellow/white mug right |
| `occluded/01_KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it/ep016` | wrong target | wrong target for moka pot; placing moka pot in basket | move moka pot to stove; turn on stove | place moka pot on stove; turn on stove |
| `occluded/03_KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it/ep015` | wrong target | placed mug in organizer; missed microwave target | retrieve mug from organizer; place in microwave and close door | move mug to microwave; avoid organizer |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep000` | wrong target | placed objects on wrong target plates | swap mugs to their correct plates | move white mug to left plate; move yellow mug to right plate |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep001` | wrong target | placed mugs on incorrect plates; swapped target locations | swap mugs to correct plates | place white mug left and yellow/white mug right |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep002` | wrong target | placed yellow and white mug on wrong plate | move yellow mug to right plate; place white mug on left plate | place yellow mug on right plate; place white mug on left plate |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep006` | wrong target | swapped targets; placed mugs on wrong plates | swap mugs to correct plates | place white mug left and yellow mug right |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep013` | wrong target | swapped target locations; wrong receptacle placement | swap mug positions to correct plates | place white mug left; place yellow mug right |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep014` | wrong target | placed yellow mug on left plate; robot froze | move yellow mug to right plate; place white mug on left plate | place yellow mug on right plate; place white mug on left plate |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep015` | wrong target | swapped target locations for both mugs | swap mugs; white mug to left; yellow mug to right | place white mug left; place yellow mug right |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep019` | wrong target | placed white mug on right plate instead of left | move white mug to left plate; place yellow mug on right | move white mug to left plate |
| `occluded/08_LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate/ep022` | wrong target | placed mugs on incorrect plates; swapped targets | swap mugs to correct plates | place white mug on left plate; place yellow/white mug on right plate |