| # t005__ep048__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 749 (15.0s at 50 Hz) |
| - **policy inferences:** 129 (replan_steps=6) |
| - **video:** `push_pineapple/ep048/rollout.mp4` |
| - **features:** `129` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–149 | 0–24 | hovering near base | |
| | 3.0–6.0 | 150–299 | 25–49 | idle near center table | |
| | 6.0–9.0 | 300–449 | 50–74 | remaining stationary | |
| | 9.0–12.0 | 450–599 | 75–99 | idle without moving | |
| | 12.0–15.0 | 600–748 | 100–124 | hovering near initial position | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 1.12 s (00:01.1) |
| - **frame / control_step:** 56 (policy_step=9, chunk_index=2) |
| - **coarse onset:** 2.5 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot arm remains stuck near its initial position near the center of the workspace and fails to move toward the pineapple on the stove. |
| Summary: robot arm stuck; no progress toward target |
| - **recovery:** Command the arm to move to the right side toward the stove, position the gripper behind the pineapple, and push it off the stove. |
| Summary: reach toward stove; push pineapple off stove |
| - **prevention:** Generate trajectory towards the stove and pineapple from the beginning of execution. |
| Summary: move directly to stove; push pineapple off |
| - **justification:** The robot arm hovers near its base from the start and makes no meaningful motion toward the stove or pineapple throughout the entire 15-second duration, indicating a clear trajectory execution failure. |
|
|
