| # t005__ep030__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 277 (5.5s at 50 Hz) |
| - **policy inferences:** 48 (replan_steps=6) |
| - **video:** `push_pineapple/ep030/rollout.mp4` |
| - **features:** `48` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | moving gripper toward pineapple | |
| | 3.0–5.5 | 152–276 | 25–46 | holding position over pineapple | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 2.9702970297029703 s (00:03.0) |
| - **frame / control_step:** 150 (policy_step=25, chunk_index=0) |
| - **coarse onset:** 3.5 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot arm lowered its gripper onto the pineapple on the stove but failed to execute a forward pushing motion, becoming stuck in place over the stove tray. |
| Summary: stuck at target; failed to push pineapple off stove |
| - **recovery:** Lift and reposition the gripper behind the pineapple, then execute a horizontal forward sweep to push the pineapple off the stove tray. |
| Summary: reposition gripper; push pineapple off stove |
| - **prevention:** Approach the pineapple from the side or back at stove height and push across the surface rather than stopping upon contact. |
| Summary: align trajectory; push pineapple off stove |
| - **justification:** By around 3.5 seconds, the robot's end-effector reaches the pineapple on the stove plate but freezes/halts instead of sweeping forward to push the pineapple off, failing to make any further progress. |
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|
