# t005__ep034__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 392  (7.7s at 51 Hz)
- **policy inferences:** 68  (replan_steps=6)
- **video:** `push_pineapple/ep034/rollout.mp4`
- **features:** `68` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | reaching toward pineapple on stove |
| 3.0–6.0 | 152–303 | 25–50 | contacting pineapple on stove |
| 6.0–7.7 | 304–391 | 50–65 | hovering near pineapple; no progress |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 4.841897233201581 s (00:04.8)
- **frame / control_step:** 245 (policy_step=40, chunk_index=5)
- **coarse onset:** 5.0 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot reaches the pineapple on the stove but presses lightly down on it rather than executing a horizontal pushing motion, failing to move the pineapple off the cooktop before time expires.
  Summary: ineffective pushing motion; pineapple remains on stove
- **recovery:** Reposition the end-effector behind or to the side of the pineapple and push it laterally until it falls off the stove surface.
  Summary: reposition behind pineapple; push off stove
- **prevention:** Align the end-effector beside the pineapple before pushing horizontally across the stove top.
  Summary: align gripper laterally; push pineapple off stove
- **justification:** At around 5.0 seconds, the robot reaches the pineapple but makes ineffective contact from above rather than sweeping horizontally. It remains hovering/pressing on the object without sliding it off the stove until the episode ends.