# t005__ep020__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 437  (8.6s at 51 Hz)
- **policy inferences:** 75  (replan_steps=6)
- **video:** `push_pineapple/ep020/rollout.mp4`
- **features:** `75` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–152 | 0–25 | reaching toward pineapple on stove |
| 3.0–6.0 | 153–305 | 25–50 | pushing pineapple and lifting arm |
| 6.0–8.6 | 306–436 | 51–72 | retracting arm and staying idle |

## Failure

- **yes**
- **onset type:** obvious_mistake
- **onset:** 3.8627450980392157 s (00:03.9)
- **frame / control_step:** 197 (policy_step=32, chunk_index=5)
- **coarse onset:** 3.8 s (refined=True)
- **mode:** object_displacement
- **reason:** The robot pushed the pineapple toward the edge of the stove but retracted its arm prematurely, leaving the pineapple's leaves still touching the stove plate.
  Summary: insufficient push distance; object still touching stove
- **recovery:** Approach the pineapple again and push it further forward onto the table so that it completely clears the stove surface.
  Summary: re-engage pineapple; push clear of stove
- **prevention:** Extend the pushing motion further forward to guarantee the pineapple is fully off the stove before retracting the end-effector.
  Summary: push pineapple further; ensure total clearance before retracting
- **justification:** Around 3.8 seconds into the video (frame 00:04), the end-effector stops pushing and begins lifting away while the pineapple is still partially resting on the stove edge. Because the robot retracts to home position for the remainder of the episode without finishing the push, the goal predicate remains unsatisfied.