# t005__ep027__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 527  (10.4s at 51 Hz)
- **policy inferences:** 91  (replan_steps=6)
- **video:** `push_pineapple/ep027/rollout.mp4`
- **features:** `91` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | lowering arm toward pineapple |
| 3.0–6.0 | 152–303 | 25–50 | contacting pineapple and retracting |
| 6.0–9.0 | 304–455 | 50–75 | hovering above pineapple |
| 9.0–10.4 | 456–526 | 76–87 | remaining motionless over stove |

## Failure

- **yes**
- **onset type:** obvious_mistake
- **onset:** 3.8142292490118574 s (00:03.8)
- **frame / control_step:** 193 (policy_step=32, chunk_index=1)
- **coarse onset:** 6.0 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot arm approached and contacted the pineapple on the stove top but failed to exert sufficient pushing force, retracting upward without removing the pineapple from the stove.
  Summary: failed to push pineapple; stopped making progress
- **recovery:** Re-align the gripper behind the pineapple and push it firmly forward until it slides completely off the stove surface.
  Summary: re-align gripper; push pineapple off stove
- **prevention:** Approach the pineapple from a lower angle and maintain forward pushing pressure until the object falls off the stove.
  Summary: maintain contact; push pineapple off stove
- **justification:** At around 6.0 seconds, the robot arm touches the pineapple but fails to move it off the stove top and pulls away, leaving the pineapple in place for the remainder of the episode.