| # t005__ep033__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 354 (7.0s at 50 Hz) |
| - **policy inferences:** 60 (replan_steps=6) |
| - **video:** `push_pineapple/ep033/rollout.mp4` |
| - **features:** `60` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | lowering gripper toward pineapple | |
| | 3.0–6.0 | 151–301 | 25–50 | grasping pineapple and remaining stationary | |
| | 6.0–7.0 | 302–353 | 50–58 | idle while holding pineapple | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 3.6779324055666005 s (00:03.7) |
| - **frame / control_step:** 185 (policy_step=30, chunk_index=5) |
| - **coarse onset:** 4.0 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot gripped the pineapple on the stove but stopped advancing the motion, hovering in place without pushing or sliding the fruit off the cooktop. |
| Summary: hovering while holding object; no progress pushing off stove |
| - **recovery:** Move the end-effector horizontally toward the side of the table to slide or transport the pineapple completely off the stove surface. |
| Summary: slide object laterally; place pineapple on table |
| - **prevention:** Execute a continuous horizontal pushing or pulling motion across the cooktop to clear the pineapple off the stove without stopping. |
| Summary: push pineapple off cooktop; maintain horizontal movement |
| - **justification:** By frame 00:04 (around 4.0s), the robot has grasped the pineapple on the stove but freezes/hovers in place without moving it off the stove, making no further progress for the remainder of the rollout. |
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|
