# t005__ep049__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 670  (13.0s at 51 Hz)
- **policy inferences:** 113  (replan_steps=6)
- **video:** `push_pineapple/ep049/rollout.mp4`
- **features:** `113` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–153 | 0–25 | hovering above center table |
| 3.0–6.0 | 154–307 | 25–51 | idle near home position |
| 6.0–9.0 | 308–461 | 51–76 | oscillating slightly in place |
| 9.0–12.0 | 462–615 | 77–102 | remaining idle above table |
| 12.0–13.0 | 616–669 | 102–111 | static near home position |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 0.058365758754863814 s (00:00.1)
- **frame / control_step:** 3 (policy_step=0, chunk_index=3)
- **coarse onset:** 3.0 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot arm becomes stuck hovering near its home position above the table, making tiny ineffective motions and failing to approach the stove or pineapple.
  Summary: robot stuck near home position; no progress toward pineapple
- **recovery:** Reset arm position controller and re-plan a trajectory targeting the pineapple on the stove.
  Summary: reset controller; target pineapple on stove
- **prevention:** Improve policy motion execution to ensure end-effector navigates toward the stove target instead of remaining motionless near home position.
  Summary: generate trajectory toward stove; avoid hovering in place
- **justification:** By timestamp 00:03, the robot arm stops making forward progress and hovers in mid-air above the table for the remainder of the rollout, never reaching the stove.