# t005__ep022__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 415  (8.2s at 51 Hz)
- **policy inferences:** 71  (replan_steps=6)
- **video:** `push_pineapple/ep022/rollout.mp4`
- **features:** `71` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | lowering end-effector toward pineapple |
| 3.0–6.0 | 152–303 | 25–50 | ineffectively pushing pineapple edge |
| 6.0–8.2 | 304–414 | 50–69 | hovering near stove without progress |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.675889328063241 s (00:03.7)
- **frame / control_step:** 186 (policy_step=31, chunk_index=0)
- **coarse onset:** 3.8 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot end-effector failed to position itself firmly behind the pineapple, instead pressing weakly on its edge and becoming stuck in repeated ineffective contact without pushing it off the stove.
  Summary: ineffective pushing contact; stuck near stove edge
- **recovery:** Retract the end-effector, reposition it behind the body of the pineapple, and push firmly sideways until the pineapple is completely off the stove surface.
  Summary: reposition gripper behind pineapple; push off stove
- **prevention:** Align the end-effector with the main body of the pineapple before making contact, then execute a clear pushing stroke across the stove to slide it off.
  Summary: align with pineapple body; push firmly across stove
- **justification:** At around 3.8 seconds, the robot end-effector reaches the pineapple but makes poor contact near its leafy top and stove edge. Instead of sliding the pineapple off the stove, the arm gets stuck repeating unproductive pushing motions without making progress until the episode ends.