| # t005__ep040__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 316 (6.3s at 50 Hz) |
| - **policy inferences:** 55 (replan_steps=6) |
| - **video:** `push_pineapple/ep040/rollout.mp4` |
| - **features:** `55` 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 | sliding pineapple along cooktop | |
| | 6.0–6.3 | 302–315 | 50–52 | idle above stove cooktop | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** obvious_mistake |
| - **onset:** 3.0952380952380953 s (00:03.1) |
| - **frame / control_step:** 156 (policy_step=26, chunk_index=0) |
| - **coarse onset:** 3.8 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot made contact with the pineapple but only slid it around on top of the stove cooktop rather than pushing it off the edge. |
| Summary: pineapple slid on cooktop; object not pushed off stove |
| - **recovery:** Re-align the end-effector behind the pineapple and apply forward pushing force to slide it completely off the stove cooktop. |
| Summary: re-align end-effector; push pineapple off cooktop edge |
| - **prevention:** Approach the pineapple from a trajectory aligned with the edge of the stove and push through until the pineapple falls off the stove surface. |
| Summary: align trajectory with cooktop edge; execute full pushing motion |
| - **justification:** Around 3.8 seconds, the robot arm makes contact with the pineapple on the stove. Instead of pushing it forward off the stove, the arm slides it sideways across the cooktop and then retracts, leaving the pineapple entirely on the stove surface. |
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