# t005__ep021__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 752  (14.9s at 51 Hz)
- **policy inferences:** 128  (replan_steps=6)
- **video:** `push_pineapple/ep021/rollout.mp4`
- **features:** `128` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | moving gripper toward pineapple |
| 3.0–6.0 | 152–303 | 25–50 | pressing downward on pineapple |
| 6.0–9.0 | 304–455 | 50–75 | nudging pineapple on burner |
| 9.0–12.0 | 456–607 | 76–101 | hovering and pressing pineapple |
| 12.0–14.9 | 608–751 | 101–125 | idle while touching pineapple |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.0039525691699605 s (00:03.0)
- **frame / control_step:** 152 (policy_step=25, chunk_index=2)
- **coarse onset:** 4.0 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot reaches the pineapple on the stove but continuously presses downward and performs ineffective nudges rather than pushing it horizontally off the stove surface.
  Summary: ineffective pushing motion; pineapple remains on stove
- **recovery:** Re-position the gripper beside the pineapple and apply a horizontal pushing force until the pineapple moves completely off the stove surface onto the table.
  Summary: re-align gripper sideways; push pineapple off stove surface
- **prevention:** Approach the pineapple from the side or behind with a clear horizontal trajectory to push it off the stove without pressing it downward into the burner.
  Summary: approach from side; apply horizontal pushing force
- **justification:** None