| # t005__ep044__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 639 (12.7s at 50 Hz) |
| - **policy inferences:** 111 (replan_steps=6) |
| - **video:** `push_pineapple/ep044/rollout.mp4` |
| - **features:** `111` 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 | lowering gripper near pineapple | |
| | 6.0–9.0 | 304–455 | 50–75 | idle next to pineapple | |
| | 9.0–12.0 | 456–607 | 76–101 | idle / no progress | |
| | 12.0–12.7 | 608–638 | 101–106 | remaining stationary | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 4.01980198019802 s (00:04.0) |
| - **frame / control_step:** 203 (policy_step=33, chunk_index=5) |
| - **coarse onset:** 4.2 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot lowered its gripper onto the stove next to the pineapple but failed to execute a forward or lateral pushing stroke, remaining stuck in place until the end of the episode. |
| Summary: gripper stuck near pineapple; failure to push off stove |
| - **recovery:** Reposition the end-effector behind the pineapple and apply continuous lateral force to slide the pineapple completely off the stove. |
| Summary: reposition end-effector; push pineapple off stove |
| - **prevention:** Maintain smooth lateral forward trajectory after making contact with the pineapple instead of stopping motion near the stove surface. |
| Summary: apply continuous lateral movement; avoid stopping near object |
| - **justification:** Around 4.2 seconds into the video, the end-effector reaches the pineapple but stops making any lateral progress to push it off the stove, remaining idle/stuck in the same pose for the remainder of the rollout. |
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|
