| # t005__ep043__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 630 (12.5s at 50 Hz) |
| - **policy inferences:** 108 (replan_steps=6) |
| - **video:** `push_pineapple/ep043/rollout.mp4` |
| - **features:** `108` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–150 | 0–25 | lowering arm toward stove | |
| | 3.0–6.0 | 151–301 | 25–50 | approaching pineapple on stove | |
| | 6.0–9.0 | 302–452 | 50–75 | lowering gripper onto pineapple | |
| | 9.0–12.0 | 453–603 | 75–100 | pressing against pineapple without moving | |
| | 12.0–12.5 | 604–629 | 100–104 | idle at pineapple | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 7.698412698412699 s (00:07.7) |
| - **frame / control_step:** 388 (policy_step=64, chunk_index=4) |
| - **coarse onset:** 9.2 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot positioned its gripper near the pineapple on the stove but failed to execute a effective pushing motion, remaining stuck in contact with the object without moving it off the stove. |
| Summary: stuck near object; failing to push pineapple |
| - **recovery:** Reposition the gripper behind or to the side of the pineapple and push it horizontally until it is completely off the stove surface. |
| Summary: reposition gripper; push pineapple off stove |
| - **prevention:** Align the gripper properly with the pineapple and drive horizontally across the stove surface to push the pineapple off. |
| Summary: align gripper behind object; push off stove surface |
| - **justification:** Around 9.2 seconds, the robot arm reaches the pineapple on the stove but makes no further progress in pushing it off, staying in place against the stove and pineapple until the rollout ends. |
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|
