# t005__ep048__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 749  (15.0s at 50 Hz)
- **policy inferences:** 129  (replan_steps=6)
- **video:** `push_pineapple/ep048/rollout.mp4`
- **features:** `129` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–149 | 0–24 | hovering near base |
| 3.0–6.0 | 150–299 | 25–49 | idle near center table |
| 6.0–9.0 | 300–449 | 50–74 | remaining stationary |
| 9.0–12.0 | 450–599 | 75–99 | idle without moving |
| 12.0–15.0 | 600–748 | 100–124 | hovering near initial position |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 1.12 s (00:01.1)
- **frame / control_step:** 56 (policy_step=9, chunk_index=2)
- **coarse onset:** 2.5 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot arm remains stuck near its initial position near the center of the workspace and fails to move toward the pineapple on the stove.
  Summary: robot arm stuck; no progress toward target
- **recovery:** Command the arm to move to the right side toward the stove, position the gripper behind the pineapple, and push it off the stove.
  Summary: reach toward stove; push pineapple off stove
- **prevention:** Generate trajectory towards the stove and pineapple from the beginning of execution.
  Summary: move directly to stove; push pineapple off
- **justification:** The robot arm hovers near its base from the start and makes no meaningful motion toward the stove or pineapple throughout the entire 15-second duration, indicating a clear trajectory execution failure.