| # t005__ep034__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 392 (7.7s at 51 Hz) |
| - **policy inferences:** 68 (replan_steps=6) |
| - **video:** `push_pineapple/ep034/rollout.mp4` |
| - **features:** `68` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–151 | 0–25 | reaching toward pineapple on stove | |
| | 3.0–6.0 | 152–303 | 25–50 | contacting pineapple on stove | |
| | 6.0–7.7 | 304–391 | 50–65 | hovering near pineapple; no progress | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 4.841897233201581 s (00:04.8) |
| - **frame / control_step:** 245 (policy_step=40, chunk_index=5) |
| - **coarse onset:** 5.0 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot reaches the pineapple on the stove but presses lightly down on it rather than executing a horizontal pushing motion, failing to move the pineapple off the cooktop before time expires. |
| Summary: ineffective pushing motion; pineapple remains on stove |
| - **recovery:** Reposition the end-effector behind or to the side of the pineapple and push it laterally until it falls off the stove surface. |
| Summary: reposition behind pineapple; push off stove |
| - **prevention:** Align the end-effector beside the pineapple before pushing horizontally across the stove top. |
| Summary: align gripper laterally; push pineapple off stove |
| - **justification:** At around 5.0 seconds, the robot reaches the pineapple but makes ineffective contact from above rather than sweeping horizontally. It remains hovering/pressing on the object without sliding it off the stove until the episode ends. |
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