# t005__ep033__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 354  (7.0s at 50 Hz)
- **policy inferences:** 60  (replan_steps=6)
- **video:** `push_pineapple/ep033/rollout.mp4`
- **features:** `60` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–150 | 0–25 | lowering gripper toward pineapple |
| 3.0–6.0 | 151–301 | 25–50 | grasping pineapple and remaining stationary |
| 6.0–7.0 | 302–353 | 50–58 | idle while holding pineapple |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.6779324055666005 s (00:03.7)
- **frame / control_step:** 185 (policy_step=30, chunk_index=5)
- **coarse onset:** 4.0 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot gripped the pineapple on the stove but stopped advancing the motion, hovering in place without pushing or sliding the fruit off the cooktop.
  Summary: hovering while holding object; no progress pushing off stove
- **recovery:** Move the end-effector horizontally toward the side of the table to slide or transport the pineapple completely off the stove surface.
  Summary: slide object laterally; place pineapple on table
- **prevention:** Execute a continuous horizontal pushing or pulling motion across the cooktop to clear the pineapple off the stove without stopping.
  Summary: push pineapple off cooktop; maintain horizontal movement
- **justification:** By frame 00:04 (around 4.0s), the robot has grasped the pineapple on the stove but freezes/hovers in place without moving it off the stove, making no further progress for the remainder of the rollout.