# t005__ep047__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 657  (13.0s at 51 Hz)
- **policy inferences:** 112  (replan_steps=6)
- **video:** `push_pineapple/ep047/rollout.mp4`
- **features:** `112` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | moving arm toward stove |
| 3.0–6.0 | 152–303 | 25–50 | lowering gripper near pineapple |
| 6.0–9.0 | 304–455 | 50–75 | pushing pineapple across stove |
| 9.0–12.0 | 456–607 | 76–101 | idle near pineapple |
| 12.0–13.0 | 608–656 | 101–109 | remaining stationary |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 7.8063241106719365 s (00:07.8)
- **frame / control_step:** 395 (policy_step=65, chunk_index=5)
- **coarse onset:** 7.8 s (refined=False)
- **mode:** stuck_or_no_progress
- **reason:** The robot pushed the pineapple across the stove surface but stopped before pushing it completely off the black stove plate, remaining frozen in place for the remainder of the episode.
  Summary: stopped pushing prematurely; pineapple left on stove
- **recovery:** Resume pushing the pineapple sideways or forward until it slides completely off the black stove plate onto the table surface.
  Summary: continue pushing pineapple; push completely off stove
- **prevention:** Maintain continuous pushing force against the pineapple until it is fully dislodged from the stove top plate before concluding the movement.
  Summary: push pineapple continuously; ensure object leaves stove
- **justification:** Around 00:07.8, the robot pushes the pineapple onto the left burner of the stove top plate and then stops moving entirely. It remains static until the rollout ends at 12.96s without completing the task requirement to push the object off the stove.