# t005__ep044__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 639  (12.7s at 50 Hz)
- **policy inferences:** 111  (replan_steps=6)
- **video:** `push_pineapple/ep044/rollout.mp4`
- **features:** `111` 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 | lowering gripper near pineapple |
| 6.0–9.0 | 304–455 | 50–75 | idle next to pineapple |
| 9.0–12.0 | 456–607 | 76–101 | idle / no progress |
| 12.0–12.7 | 608–638 | 101–106 | remaining stationary |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 4.01980198019802 s (00:04.0)
- **frame / control_step:** 203 (policy_step=33, chunk_index=5)
- **coarse onset:** 4.2 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot lowered its gripper onto the stove next to the pineapple but failed to execute a forward or lateral pushing stroke, remaining stuck in place until the end of the episode.
  Summary: gripper stuck near pineapple; failure to push off stove
- **recovery:** Reposition the end-effector behind the pineapple and apply continuous lateral force to slide the pineapple completely off the stove.
  Summary: reposition end-effector; push pineapple off stove
- **prevention:** Maintain smooth lateral forward trajectory after making contact with the pineapple instead of stopping motion near the stove surface.
  Summary: apply continuous lateral movement; avoid stopping near object
- **justification:** Around 4.2 seconds into the video, the end-effector reaches the pineapple but stops making any lateral progress to push it off the stove, remaining idle/stuck in the same pose for the remainder of the rollout.