MPC failures re-run at max_steps 400 (were FAIL at 200)
Took every seed where MPC failed (env_success=False) at max_steps=200 and re-ran it at max_steps=400 — to separate "ran out of time" from "genuinely can't do it". Same v3-valid config per task (poselib + MPC; bread=economicgrasp, canpot=object_center; completion_frames=2; fling detection on).
| task | failed @200 | recovered @400 | still FAIL | flung @400 | timeout |
|---|---|---|---|---|---|
| move_can_pot | 12 | 1 (8%) | 10 | 0 | 1 |
| place_bread_skillet | 25 | 8 (32%) | 6 | 10 | 1 |
Takeaways
- canpot: doubling the horizon barely helps (1/12). The MPC failures are genuine grasp/place-capability failures, not a step-budget issue.
- bread: ~1/3 recover with more time, but the extra horizon also lets the VLA fling the bread far more (10/25 = 40%), offsetting much of the gain.
- Overall: 200 steps is essentially enough for these two tasks; the bottleneck is policy capability (grasp / place / not ejecting the object), not time.
Each task folder: videos/ (re-run episodes), flung_videos/ (ejected; 15-tick
grace), results.tsv, failed_at_200_seeds.txt (the input seeds).