| # t005__ep021__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 752 (14.9s at 51 Hz) |
| - **policy inferences:** 128 (replan_steps=6) |
| - **video:** `push_pineapple/ep021/rollout.mp4` |
| - **features:** `128` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | moving gripper toward pineapple | |
| | 3.0–6.0 | 152–303 | 25–50 | pressing downward on pineapple | |
| | 6.0–9.0 | 304–455 | 50–75 | nudging pineapple on burner | |
| | 9.0–12.0 | 456–607 | 76–101 | hovering and pressing pineapple | |
| | 12.0–14.9 | 608–751 | 101–125 | idle while touching pineapple | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 3.0039525691699605 s (00:03.0) |
| - **frame / control_step:** 152 (policy_step=25, chunk_index=2) |
| - **coarse onset:** 4.0 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot reaches the pineapple on the stove but continuously presses downward and performs ineffective nudges rather than pushing it horizontally off the stove surface. |
| Summary: ineffective pushing motion; pineapple remains on stove |
| - **recovery:** Re-position the gripper beside the pineapple and apply a horizontal pushing force until the pineapple moves completely off the stove surface onto the table. |
| Summary: re-align gripper sideways; push pineapple off stove surface |
| - **prevention:** Approach the pineapple from the side or behind with a clear horizontal trajectory to push it off the stove without pressing it downward into the burner. |
| Summary: approach from side; apply horizontal pushing force |
| - **justification:** None |
|
|
