| # t005__ep049__push_pineapple |
| |
| - **suite / variant:** `` / `` |
| - **instruction:** Push the pineapple off the stove |
| - **success:** False |
| - **control steps:** 670 (13.0s at 51 Hz) |
| - **policy inferences:** 113 (replan_steps=6) |
| - **video:** `push_pineapple/ep049/rollout.mp4` |
| - **features:** `113` prefix tensors (`prefix`; model=``) |
|
|
| ## Semantic timeline |
|
|
| | seconds | control_step | policy_step | phrase | |
| |---|---|---|---| |
| | 0.0–3.0 | 0–153 | 0–25 | hovering above center table | |
| | 3.0–6.0 | 154–307 | 25–51 | idle near home position | |
| | 6.0–9.0 | 308–461 | 51–76 | oscillating slightly in place | |
| | 9.0–12.0 | 462–615 | 77–102 | remaining idle above table | |
| | 12.0–13.0 | 616–669 | 102–111 | static near home position | |
|
|
| ## Failure |
|
|
| - **yes** |
| - **onset type:** operator_intervention |
| - **onset:** 0.058365758754863814 s (00:00.1) |
| - **frame / control_step:** 3 (policy_step=0, chunk_index=3) |
| - **coarse onset:** 3.0 s (refined=True) |
| - **mode:** stuck_or_no_progress |
| - **reason:** The robot arm becomes stuck hovering near its home position above the table, making tiny ineffective motions and failing to approach the stove or pineapple. |
| Summary: robot stuck near home position; no progress toward pineapple |
| - **recovery:** Reset arm position controller and re-plan a trajectory targeting the pineapple on the stove. |
| Summary: reset controller; target pineapple on stove |
| - **prevention:** Improve policy motion execution to ensure end-effector navigates toward the stove target instead of remaining motionless near home position. |
| Summary: generate trajectory toward stove; avoid hovering in place |
| - **justification:** By timestamp 00:03, the robot arm stops making forward progress and hovers in mid-air above the table for the remainder of the rollout, never reaching the stove. |
|
|
