# 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).