# t005__ep046__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 424  (8.4s at 50 Hz)
- **policy inferences:** 73  (replan_steps=6)
- **video:** `push_pineapple/ep046/rollout.mp4`
- **features:** `73` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–150 | 0–25 | lowering arm toward stove |
| 3.0–6.0 | 151–301 | 25–50 | approaching and contacting pineapple |
| 6.0–8.4 | 302–423 | 50–70 | holding position at pineapple |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.8645418326693224 s (00:03.9)
- **frame / control_step:** 194 (policy_step=32, chunk_index=2)
- **coarse onset:** 5.8 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot reaches the pineapple on the stove top around 5.8 seconds but freezes upon making contact, failing to apply the lateral force necessary to push it off the stove.
  Summary: arm freezes upon contact; pineapple remains on stove
- **recovery:** Re-engage end-effector control to push the pineapple laterally until it moves completely off the stove plate onto the table.
  Summary: apply lateral force; push pineapple off stove
- **prevention:** Maintain a continuous lateral trajectory when approaching the pineapple to smoothly sweep it off the stove surface without stopping.
  Summary: maintain sweeping trajectory; push object off stove
- **justification:** The robot correctly identifies and approaches the pineapple on the stove around 5.8 seconds. However, once touching the object, it stops advancing and remains stationary on top of the stove until the video ends, making no progress toward pushing the object off the stove.