"If the yellow pipe (pipe removal) either doesn’t get picked up or drops during the run" is what FLL calls "Stranding" for HYDRO DYNAMICS and this topic is addressed as Rule 15. What happens to the item depends on where it comes to rest on the field:
To answer your question directly, the pipes must stay where they are if they came to rest completely outside Base (you cannot touch it for any reason, but your autonomous Robot can).
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