sample string | task_id string | episode string | robot string | hdf5 string | verdict string | onset float64 | type list | reason string | avoidance string |
|---|---|---|---|---|---|---|---|---|---|
pour_ball_transfer_cup_episode_19 | pour_ball_transfer_cup | episode_19 | aloha | episodes/pour_ball_transfer_cup_episode_19.hdf5 | fail | 1.145998 | [
"wrong_object"
] | Expected: The right arm should align with and grasp the yellow cup.
Observation: The right gripper closed on the blue cup instead.
Result: The right arm lifted the empty blue cup. | Move the right arm to align with the yellow cup instead of the blue cup. |
pour_ball_transfer_cup_episode_20 | pour_ball_transfer_cup | episode_20 | aloha | episodes/pour_ball_transfer_cup_episode_20.hdf5 | fail | 47.88 | [
"translation_error"
] | Expected: Use the left arm to grasp the ball in the orange bowl
Observation: left gripper is offset slightly upward relative to the ball
Result: left gripper closed completely on empty space, leaving the ball behind inside the bowl | move the left arm slightly downward to align with the ball before grasping |
pour_ball_transfer_cup_episode_21 | pour_ball_transfer_cup | episode_21 | aloha | episodes/pour_ball_transfer_cup_episode_21.hdf5 | fail | 54.301222 | [
"wrong_placement"
] | Expected: Move the left arm to place the ball into the blue cup
Observation: The left arm released the ball into the yellow cup
Result: The ball was dropped into the yellow cup instead of the blue cup. | Move the left arm to place the ball into the blue cup |
pour_ball_transfer_cup_episode_23 | pour_ball_transfer_cup | episode_23 | aloha | episodes/pour_ball_transfer_cup_episode_23.hdf5 | success | null | null | null | null |
empty_bowl_insert_block_episode_24 | empty_bowl_insert_block | episode_24 | aloha | episodes/empty_bowl_insert_block_episode_24.hdf5 | success | null | null | null | null |
empty_bowl_insert_block_episode_25 | empty_bowl_insert_block | episode_25 | aloha | episodes/empty_bowl_insert_block_episode_25.hdf5 | fail | 64.698646 | [
"translation_error"
] | Expected: Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block
Observation: left arm attempted to insert the block into the leftmost slot
Result: small block collided with the 4 slot block, tipping it over and failing the assembly | Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block |
empty_bowl_insert_block_episode_26 | empty_bowl_insert_block | episode_26 | aloha | episodes/empty_bowl_insert_block_episode_26.hdf5 | fail | 54.996332 | [
"translation_error",
"wrong_placement"
] | Expected: Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block
Observation: the left gripper insert the small blcok to the leftmost slot.
Result: the small block was assembled into the wrong slot | Use the left arm to align over and insert the small block into the second slot from the right of the 4 slot block |
empty_bowl_insert_block_episode_27 | empty_bowl_insert_block | episode_27 | aloha | episodes/empty_bowl_insert_block_episode_27.hdf5 | fail | 0 | [
"wrong_gripper"
] | Expected: Move the right arm to grasp the blue blocks
Observation: The left arm is already grasping a block
Result: The left arm executes the right arm's designated task, violating the instruction. | Use the right arm to approach and grasp the blocks in the bowl. |
balls_to_egg_carton_episode_13 | balls_to_egg_carton | episode_13 | aloha | episodes/balls_to_egg_carton_episode_13.hdf5 | fail | 47.59 | [
"translation_error",
"wrong_placement"
] | Eexpected: use the left gripper to move the ball into the empty slot of the egg carton.
Observed: the left gripper move d the ball to the opening lid of the egg carton
Result: the ball is not placed into the slot of the egg carton | Move the left gripper to align with the empty slot instead of the opening lid |
balls_to_egg_carton_episode_28 | balls_to_egg_carton | episode_28 | aloha | episodes/balls_to_egg_carton_episode_28.hdf5 | success | null | null | null | null |
balls_to_egg_carton_episode_29 | balls_to_egg_carton | episode_29 | aloha | episodes/balls_to_egg_carton_episode_29.hdf5 | fail | 61.142777 | [
"translation_error"
] | Expected: use the left gripper to grasp the white left-side ball
Observation: the left gripper is slightly upward offset relative to the ball
Result: the ball is not grasped and is left on the table | MOve the left griper slightly downward to align with the ball |
balls_to_egg_carton_episode_30 | balls_to_egg_carton | episode_30 | aloha | episodes/balls_to_egg_carton_episode_30.hdf5 | fail | 29.661111 | [
"wrong_gripper"
] | Expected: Use the left arm to move to and grasp the left-side balls
Observation: the right arm moved to the left side and its gripper grasped the blue ball
Result: the right arm improperly took over the task assigned to the left arm | Use the left arm instead of the right to move to and grasp the left-side balls |
stack_cup_pyramid_episode_31 | stack_cup_pyramid | episode_31 | aloha | episodes/stack_cup_pyramid_episode_31.hdf5 | success | null | null | null | null |
stack_cup_pyramid_episode_32 | stack_cup_pyramid | episode_32 | aloha | episodes/stack_cup_pyramid_episode_32.hdf5 | fail | 45.715569 | [
"closing_error"
] | Expected: Use the right gripper to grasp a single paper cup.
Observation: The right gripper closed too much, causing it to grasp two stacked cups instead of one.
Result: The right gripper failed to separate the two paper cups. | Close the gripper with larger aperture to pick up a single cup instead of two |
stack_cup_pyramid_episode_33 | stack_cup_pyramid | episode_33 | aloha | episodes/stack_cup_pyramid_episode_33.hdf5 | fail | 49.52 | [
"wrong_placement",
"translation_error"
] | Expected: Use the right gripper to release the cup onto the table.
Observation: The right gripper released the cup, stacking it on top of another cup in the pyramid.
Result: The cup was stacked onto the pyramid instead of being placed on the table. | Use the right gripper to release the cup onto the table. |
stack_cup_pyramid_episode_34 | stack_cup_pyramid | episode_34 | aloha | episodes/stack_cup_pyramid_episode_34.hdf5 | fail | 104.393384 | [
"closing_error"
] | Expected: use the left arm to transport the cup on top of the pyramid
Observation: the right gripper sliped the cup during transporting the cup
Result: The cup dropped off on the table, and tje pyramid is incomplete. | close the gripper thightly while moving |
bottle_to_bowl_and_cover_episode_36 | bottle_to_bowl_and_cover | episode_36 | aloha | episodes/bottle_to_bowl_and_cover_episode_36.hdf5 | fail | 59.6 | [
"translation_error"
] | Expected: release the white object centered over the bottle to mask it.
Observation: the left gripper released the white object with a translation offset relative to the bottle cap
Result: The bottle lost balance and fell onto the table. | Move the left gripper slightly to center the white object perfectly over the bottle before releasing |
bottle_to_bowl_and_cover_episode_37 | bottle_to_bowl_and_cover | episode_37 | aloha | episodes/bottle_to_bowl_and_cover_episode_37.hdf5 | success | null | null | null | null |
bottle_to_bowl_and_cover_episode_38 | bottle_to_bowl_and_cover | episode_38 | aloha | episodes/bottle_to_bowl_and_cover_episode_38.hdf5 | fail | 17.02 | [
"closing_error"
] | Expected: Use the right arm to transport the bottle into the bowl.
Observation: The bottle slipped from the right gripper during transport.
Result: The bottle was left on the table outside the bowl. | close the gripper tightly while moving the object |
uncap_marker_draw_recap_episode_39 | uncap_marker_draw_recap | episode_39 | aloha | episodes/uncap_marker_draw_recap_episode_39.hdf5 | success | null | null | null | null |
uncap_marker_draw_recap_episode_41 | uncap_marker_draw_recap | episode_41 | aloha | episodes/uncap_marker_draw_recap_episode_41.hdf5 | fail | 71.6 | [
"translation_error"
] | Expected: Use the right arm to release the marker inside the cup.
Observation: The right gripper dropped the marker with a slight offset to the right, causing it to collide with the rim of the cup.
Result: The marker struck the cup's rim, tipping the cup over and falling onto the whiteboard. | Move the right arm to properly center the marker over the cup opening before releasing it |
uncap_marker_draw_recap_episode_42 | uncap_marker_draw_recap | episode_42 | aloha | episodes/uncap_marker_draw_recap_episode_42.hdf5 | fail | 21.08 | [
"translation_error"
] | Expected: Move the left arm to align with the cap.
Observation: The left gripper was offset slightly to the left and failed to grasp the cap.
Result: The left gripper missed the cap, leaving the marker capped in the right arm. | Move the left gripper further to the right to align with the cap. |
uncap_marker_draw_recap_episode_43 | uncap_marker_draw_recap | episode_43 | aloha | episodes/uncap_marker_draw_recap_episode_43.hdf5 | fail | 5.84 | [
"wrong_sequence",
"closing_error"
] | Expected: Use the right arm to move the marker towards the left arm.
Observation: The right arm dropped the marker directly instead of moving it towards the left arm.
Result: The marker fell and collided with the cup rim, causing it to fall. | keep the right gripper closed on the marker and move towards the left arm |
yellow_red_blocks_to_bowls_episode_0 | yellow_red_blocks_to_bowls | episode_0 | aloha | episodes/yellow_red_blocks_to_bowls_episode_0.hdf5 | fail | 12.978725 | [
"wrong_placement"
] | Expected: The right arm should place the yellow block into the yellow bowl on the left.
Observation: The right arm released the yellow block into the orange bowl
Result: The yellow block was placed into the incorrect bowl. | move the right arm to align the yellow block with the yellow bowl |
yellow_red_blocks_to_bowls_episode_2 | yellow_red_blocks_to_bowls | episode_2 | aloha | episodes/yellow_red_blocks_to_bowls_episode_2.hdf5 | fail | 3.856999 | [
"wrong_object"
] | Expected: use the right arm to move to and grasp the yellow block
Observation: the right gripper closed on the red block
Result: the right arm grasped the wrong object and placed it into the yellow bowl | move the right arm to grasp the yellow block instead of the red block |
yellow_red_blocks_to_bowls_episode_4 | yellow_red_blocks_to_bowls | episode_4 | aloha | episodes/yellow_red_blocks_to_bowls_episode_4.hdf5 | success | null | null | null | null |
stabilize_and_insert_block_episode_6 | stabilize_and_insert_block | episode_6 | aloha | episodes/stabilize_and_insert_block_episode_6.hdf5 | success | null | null | null | null |
stabilize_and_insert_block_episode_7 | stabilize_and_insert_block | episode_7 | aloha | episodes/stabilize_and_insert_block_episode_7.hdf5 | success | null | null | null | null |
stabilize_and_insert_block_episode_8 | stabilize_and_insert_block | episode_8 | aloha | episodes/stabilize_and_insert_block_episode_8.hdf5 | fail | 12.697703 | [
"closing_error"
] | Expected: Use the left arm to maintain its grasp on the blue block while using the right arm to grasp the small block.
Observation: The left gripper failed to maintain its grasp to stabilize the blue block, while the right arm simultaneously failed to grasp the small block.
Result: The small block was never grasped and... | keep holding the blue blocks and grasp the small block once aligned |
stabilize_and_insert_block_episode_9 | stabilize_and_insert_block | episode_9 | aloha | episodes/stabilize_and_insert_block_episode_9.hdf5 | fail | 9.753333 | [
"translation_error"
] | Expected: Move the right arm to grasp the small block.
Observation: The right arm was offset slightly to the right of the small block.
Result: The small block was never grasped and remained on the table. | Move the right arm slightly to the left to align with the small block |
balls_to_rack_episode_00 | balls_to_rack | episode_00 | so101 | episodes/balls_to_rack_episode_00.hdf5 | fail | 47.241913 | [
"closing_error"
] | Expected: The left gripper should close firmly on the yellow ball.
Observation: The left gripper shifted as it closed, squeezing the ball out.
Result: The yellow ball stayed on the table and was never transferred. | Close the left gripper firmly on the yellow ball before transferring it. |
balls_to_rack_episode_01 | balls_to_rack | episode_01 | so101 | episodes/balls_to_rack_episode_01.hdf5 | success | null | null | null | null |
balls_to_rack_episode_02 | balls_to_rack | episode_02 | so101 | episodes/balls_to_rack_episode_02.hdf5 | fail | 76.420925 | [
"wrong_placement",
"translation_error"
] | Expected: The left gripper should release the last green ball into a cup.
Observation: The left gripper opened over the carton lid instead of a cup.
Result: The green ball landed on the lid, outside every cup. | Align the left gripper with a free cup before releasing the green ball. |
balls_to_rack_episode_03 | balls_to_rack | episode_03 | so101 | episodes/balls_to_rack_episode_03.hdf5 | fail | 26.520858 | [
"translation_error",
"wrong_placement"
] | Expected: The right gripper should release the orange ball into a cup.
Observation: The right gripper opened over the carton lid instead of a cup.
Result: The orange ball came to rest on the lid, outside every cup. | Align the right gripper with a free cup before releasing the orange ball. |
balls_to_rack_episode_04 | balls_to_rack | episode_04 | so101 | episodes/balls_to_rack_episode_04.hdf5 | success | null | null | null | null |
balls_to_rack_episode_05 | balls_to_rack | episode_05 | so101 | episodes/balls_to_rack_episode_05.hdf5 | success | null | null | null | null |
balls_to_rack_episode_06 | balls_to_rack | episode_06 | so101 | episodes/balls_to_rack_episode_06.hdf5 | fail | 16.853203 | [
"translation_error"
] | Expected: The right gripper should close centred on the yellow ball.
Observation: The right gripper came down offset and closed off-centre on the ball.
Result: The yellow ball was squeezed out and the gripper closed empty. | Centre the right gripper on the yellow ball before closing it. |
balls_to_rack_episode_07 | balls_to_rack | episode_07 | so101 | episodes/balls_to_rack_episode_07.hdf5 | fail | 55.446167 | [
"wrong_placement",
"translation_error"
] | Expected: The left gripper should release the green ball into a cup.
Observation: The left gripper opened over the lid before reaching a free cup.
Result: The green ball fell onto the lid instead of into a slot. | Align the left gripper with a free cup before releasing the green ball. |
balls_to_rack_episode_08 | balls_to_rack | episode_08 | so101 | episodes/balls_to_rack_episode_08.hdf5 | fail | 72.620458 | [
"wrong_placement",
"translation_error"
] | Expected: The left arm should release the pink ball into a free cup.
Observation: The left gripper opened over the carton rim, not over a cup.
Result: The pink ball slid off the carton onto the table, outside every slot. | Align the left arm with a free cup before releasing the pink ball. |
balls_to_rack_episode_09 | balls_to_rack | episode_09 | so101 | episodes/balls_to_rack_episode_09.hdf5 | success | null | null | null | null |
balls_to_rack_episode_10 | balls_to_rack | episode_10 | so101 | episodes/balls_to_rack_episode_10.hdf5 | success | null | null | null | null |
balls_to_rack_episode_11 | balls_to_rack | episode_11 | so101 | episodes/balls_to_rack_episode_11.hdf5 | fail | 103.486389 | [
"translation_error"
] | Expected: The left gripper should close on the green ball.
Observation: The left gripper closed offset from the green ball.
Result: The grasp was empty and the green ball stayed on the table. | Align the left gripper with the green ball before closing it. |
balls_to_rack_episode_12 | balls_to_rack | episode_12 | so101 | episodes/balls_to_rack_episode_12.hdf5 | fail | 30.407345 | [
"translation_error",
"wrong_placement"
] | Expected: The right gripper should release the red ball into a cup.
Observation: The right gripper opened over the carton edge, not over a cup.
Result: The red ball slid off the carton onto the table, outside every slot. | Align the right gripper with a free cup before releasing the red ball. |
balls_to_rack_episode_13 | balls_to_rack | episode_13 | so101 | episodes/balls_to_rack_episode_13.hdf5 | fail | 16.928948 | [
"wrong_placement",
"translation_error"
] | Expected: The right gripper should release the orange ball into a cup.
Observation: The right gripper opened over the carton lid rather than a cup.
Result: The orange ball settled on the lid and never entered a slot. | Align the orange ball with a free cup before opening the right gripper. |
balls_to_rack_episode_14 | balls_to_rack | episode_14 | so101 | episodes/balls_to_rack_episode_14.hdf5 | success | null | null | null | null |
balls_to_rack_episode_15 | balls_to_rack | episode_15 | so101 | episodes/balls_to_rack_episode_15.hdf5 | fail | 47.206255 | [
"translation_error",
"wrong_placement"
] | Expected: The left gripper should release the blue ball into a cup.
Observation: The left gripper opened over the lid before aligning with a cup.
Result: The blue ball dropped onto the lid instead of into a slot. | Align the left gripper with a free cup before releasing the blue ball. |
balls_to_rack_episode_16 | balls_to_rack | episode_16 | so101 | episodes/balls_to_rack_episode_16.hdf5 | success | null | null | null | null |
balls_to_rack_episode_17 | balls_to_rack | episode_17 | so101 | episodes/balls_to_rack_episode_17.hdf5 | fail | 29.206246 | [
"wrong_placement"
] | Expected: The right gripper should release the yellow ball into a cup.
Observation: The right gripper opened over the carton edge, not over a cup.
Result: The yellow ball slid off the carton onto the table beside it. | Align the yellow ball with the target cup before opening the right gripper. |
balls_to_rack_episode_19 | balls_to_rack | episode_19 | so101 | episodes/balls_to_rack_episode_19.hdf5 | fail | 47.833271 | [
"closing_error"
] | Expected: The left gripper should hold the blue ball during transfer.
Observation: The left gripper's hold loosened and the blue ball slipped out.
Result: The blue ball fell back onto the table, never reaching a cup. | Keep the left gripper closed on the blue ball throughout the transfer. |
block_assembly_episode_00 | block_assembly | episode_00 | so101 | episodes/block_assembly_episode_00.hdf5 | success | null | null | null | null |
block_assembly_episode_01 | block_assembly | episode_01 | so101 | episodes/block_assembly_episode_01.hdf5 | success | null | null | null | null |
block_assembly_episode_03 | block_assembly | episode_03 | so101 | episodes/block_assembly_episode_03.hdf5 | fail | 33.193632 | [
"wrong_placement",
"translation_error"
] | Expected: The left arm should place the second yellow bar on the stack.
Observation: The left gripper released the yellow bar one bar-width behind the stack.
Result: The bar settled on the mat, leaving the top layer unassembled. | Centre the yellow bar over the red and green bricks before releasing it. |
block_assembly_episode_04 | block_assembly | episode_04 | so101 | episodes/block_assembly_episode_04.hdf5 | success | null | null | null | null |
block_assembly_episode_05 | block_assembly | episode_05 | so101 | episodes/block_assembly_episode_05.hdf5 | fail | 38.558143 | [
"wrong_placement",
"translation_error"
] | Expected: The left arm should seat the second yellow bar on the four studs.
Observation: The left gripper released the yellow bar off the four studs.
Result: The bar did not seat and the stack collapsed on the mat. | Align the yellow bar with the stack's four studs before lowering it. |
block_assembly_episode_06 | block_assembly | episode_06 | so101 | episodes/block_assembly_episode_06.hdf5 | success | null | null | null | null |
block_assembly_episode_07 | block_assembly | episode_07 | so101 | episodes/block_assembly_episode_07.hdf5 | fail | 7.015 | [
"wrong_placement"
] | Expected: The left arm should seat the red brick at one end of the yellow bar.
Observation: The left gripper pressed the red brick onto the two middle studs.
Result: The red brick ended centred, which violates the assembly rule. | Seat the red brick on the two studs at one end of the yellow bar. |
block_assembly_episode_08 | block_assembly | episode_08 | so101 | episodes/block_assembly_episode_08.hdf5 | fail | 3.543107 | [
"wrong_sequence"
] | Expected: The left arm should grasp the green brick to stack on the yellow bar.
Observation: The left gripper closed on the second yellow bar instead.
Result: That bar ended stacked on the base bar, violating the stacking order. | Grasp the green brick with the left gripper and stack it on the yellow bar. |
block_assembly_episode_09 | block_assembly | episode_09 | so101 | episodes/block_assembly_episode_09.hdf5 | fail | 3.884564 | [
"wrong_sequence",
"wrong_object"
] | Expected: The right arm should first seat a small brick on the yellow base bar.
Observation: The right gripper capped one yellow bar with the other one first.
Result: The two bars ended joined directly, violating the stacking order. | Stack the two small bricks on the yellow bar before capping with the second. |
block_assembly_episode_10 | block_assembly | episode_10 | so101 | episodes/block_assembly_episode_10.hdf5 | fail | 16.207467 | [
"wrong_placement"
] | Expected: The right arm should seat the green brick on the bar's free half.
Observation: The right gripper released the green brick onto the other yellow bar.
Result: The bricks ended on separate bars, violating the stacking order. | Seat the green brick on the same yellow bar that carries the red brick. |
block_assembly_episode_11 | block_assembly | episode_11 | so101 | episodes/block_assembly_episode_11.hdf5 | success | null | null | null | null |
block_assembly_episode_12 | block_assembly | episode_12 | so101 | episodes/block_assembly_episode_12.hdf5 | success | null | null | null | null |
block_assembly_episode_13 | block_assembly | episode_13 | so101 | episodes/block_assembly_episode_13.hdf5 | success | null | null | null | null |
blocks_to_bowls_episode_00 | blocks_to_bowls | episode_00 | so101 | episodes/blocks_to_bowls_episode_00.hdf5 | success | null | null | null | null |
blocks_to_bowls_episode_01 | blocks_to_bowls | episode_01 | so101 | episodes/blocks_to_bowls_episode_01.hdf5 | fail | 62.713544 | [
"orientation_error",
"translation_error"
] | Expected: The right arm should align with the green cube and grasp it.
Observation: The right gripper closed before aligning with the green cube.
Result: The grasp failed and the green cube stayed on the table. | Align the right gripper with the green cube before closing it. |
blocks_to_bowls_episode_02 | blocks_to_bowls | episode_02 | so101 | episodes/blocks_to_bowls_episode_02.hdf5 | success | null | null | null | null |
blocks_to_bowls_episode_03 | blocks_to_bowls | episode_03 | so101 | episodes/blocks_to_bowls_episode_03.hdf5 | success | null | null | null | null |
blocks_to_bowls_episode_04 | blocks_to_bowls | episode_04 | so101 | episodes/blocks_to_bowls_episode_04.hdf5 | fail | 39.725431 | [
"wrong_placement"
] | Expected: The left arm should drop the orange cube into the orange bowl.
Observation: The left arm released the orange cube over the yellow bowl.
Result: The orange cube ended up in the yellow bowl, so the colours do not match. | Release the orange cube over the orange bowl, not the yellow bowl. |
cube_stack_episode_00 | cube_stack | episode_00 | so101 | episodes/cube_stack_episode_00.hdf5 | success | null | null | null | null |
cube_stack_episode_01 | cube_stack | episode_01 | so101 | episodes/cube_stack_episode_01.hdf5 | success | null | null | null | null |
cube_stack_episode_02 | cube_stack | episode_02 | so101 | episodes/cube_stack_episode_02.hdf5 | fail | 25.89472 | [
"translation_error",
"wrong_placement"
] | Expected: The right arm should place the red cube on top of the stack.
Observation: The right gripper opened while the red cube was beside the stack's top.
Result: The red cube fell onto the table and the stack stayed two cubes high. | Align the red cube over the stack before opening the right gripper. |
cube_stack_episode_03 | cube_stack | episode_03 | so101 | episodes/cube_stack_episode_03.hdf5 | fail | 2.560555 | [
"translation_error"
] | Expected: The right arm should grasp the yellow cube and lift it.
Observation: The right gripper closed offset from the yellow cube.
Result: The gripper came up empty and no cube reached the stack. | Line the right gripper up with the yellow cube before closing it. |
cube_stack_episode_04 | cube_stack | episode_04 | so101 | episodes/cube_stack_episode_04.hdf5 | fail | 13.159259 | [
"translation_error"
] | Expected: The right arm should place the green cube on top of the stack.
Observation: The right gripper released the green cube off the stack's top face.
Result: The stack toppled, leaving all three cubes lying on the table. | Align the green cube over the stack before releasing it. |
cube_stack_episode_05 | cube_stack | episode_05 | so101 | episodes/cube_stack_episode_05.hdf5 | success | null | null | null | null |
cube_stack_episode_06 | cube_stack | episode_06 | so101 | episodes/cube_stack_episode_06.hdf5 | fail | 17.757777 | [
"translation_error"
] | Expected: The right arm should place the green cube on top of the stack.
Observation: The right gripper released the green cube against the side of the stack.
Result: The falling green cube knocked the stack over onto the table. | Slow down and align the green cube over the stack before releasing it. |
cube_stack_episode_07 | cube_stack | episode_07 | so101 | episodes/cube_stack_episode_07.hdf5 | fail | 20.876419 | [
"wrong_sequence",
"wrong_placement"
] | Expected: The right arm should place the green cube on the two-cube tower.
Observation: The right gripper released the green cube on the loose red cube, not the tower.
Result: A separate green-on-red pile formed and the tower stayed two cubes high. | Release the cube on the two-cube tower, not on the loose red cube. |
cube_stack_episode_08 | cube_stack | episode_08 | so101 | episodes/cube_stack_episode_08.hdf5 | success | null | null | null | null |
cube_stack_episode_09 | cube_stack | episode_09 | so101 | episodes/cube_stack_episode_09.hdf5 | fail | 45.084753 | [
"translation_error",
"orientation_error"
] | Expected: The right arm should place the purple cube on top of the tower.
Observation: The right gripper opened with the purple cube past the tower's top, askew.
Result: The purple cube dropped onto the table and the tower stayed standing. | Align the purple cube over the tower before opening the right gripper. |
cube_stack_episode_10 | cube_stack | episode_10 | so101 | episodes/cube_stack_episode_10.hdf5 | success | null | null | null | null |
cube_stack_episode_11 | cube_stack | episode_11 | so101 | episodes/cube_stack_episode_11.hdf5 | success | null | null | null | null |
cube_stack_episode_12 | cube_stack | episode_12 | so101 | episodes/cube_stack_episode_12.hdf5 | fail | 35.055738 | [
"translation_error"
] | Expected: The right arm should place the last purple cube on top of the tower.
Observation: The right gripper opened with the purple cube offset from the tower's top.
Result: The cube fell to the table and the tower collapsed as the arm withdrew. | Align the last purple cube over the tower before opening the right gripper. |
cube_stack_episode_14 | cube_stack | episode_14 | so101 | episodes/cube_stack_episode_14.hdf5 | fail | 40.775418 | [
"translation_error",
"orientation_error"
] | Expected: The right arm should place the last purple cube on top of the tower.
Observation: The right gripper released the purple cube misaligned over the tower's top.
Result: The tower toppled, leaving all four cubes lying on the table. | Align the purple cube with the tower's top before releasing it. |
cube_stack_episode_15 | cube_stack | episode_15 | so101 | episodes/cube_stack_episode_15.hdf5 | success | null | null | null | null |
cube_stack_episode_16 | cube_stack | episode_16 | so101 | episodes/cube_stack_episode_16.hdf5 | success | null | null | null | null |
cube_stack_episode_17 | cube_stack | episode_17 | so101 | episodes/cube_stack_episode_17.hdf5 | success | null | null | null | null |
cube_stack_episode_18 | cube_stack | episode_18 | so101 | episodes/cube_stack_episode_18.hdf5 | success | null | null | null | null |
cube_stack_episode_19 | cube_stack | episode_19 | so101 | episodes/cube_stack_episode_19.hdf5 | success | null | null | null | null |
handover_episode_00 | handover | episode_00 | so101 | episodes/handover_episode_00.hdf5 | success | null | null | null | null |
handover_episode_01 | handover | episode_01 | so101 | episodes/handover_episode_01.hdf5 | fail | 25.72 | [
"translation_error"
] | Expected: The right arm should take the block from the left arm.
Observation: The right gripper closed beside the block instead of around it.
Result: The block fell onto the table when the left gripper opened. | Align the right gripper with the block before closing it. |
handover_episode_02 | handover | episode_02 | so101 | episodes/handover_episode_02.hdf5 | fail | 49.319987 | [
"open_error"
] | Expected: The left gripper should open once the right gripper has the block.
Observation: The left gripper stayed shut on the block and never released it.
Result: The block was never transferred to the right arm. | Open the left gripper once the right gripper has closed on the block. |
handover_episode_03 | handover | episode_03 | so101 | episodes/handover_episode_03.hdf5 | fail | 19.486666 | [
"wrong_placement",
"translation_error"
] | Expected: The right arm should release the toy fries carton over the bowl.
Observation: The gripper opened while the carton was still short of the bowl.
Result: The carton landed on its side on the table beside the bowl. | Centre the toy fries carton over the bowl before opening the gripper. |
handover_episode_04 | handover | episode_04 | so101 | episodes/handover_episode_04.hdf5 | success | null | null | null | null |
handover_episode_05 | handover | episode_05 | so101 | episodes/handover_episode_05.hdf5 | fail | 24.56574 | [
"translation_error"
] | Expected: The right arm should take the block from the left arm.
Observation: The right gripper closed past the block instead of around it.
Result: The block dropped onto the table beside the bowl when the left gripper opened. | Align the right arm with the block before closing the gripper. |
handover_episode_06 | handover | episode_06 | so101 | episodes/handover_episode_06.hdf5 | success | null | null | null | null |
handover_episode_07 | handover | episode_07 | so101 | episodes/handover_episode_07.hdf5 | success | null | null | null | null |
handover_episode_08 | handover | episode_08 | so101 | episodes/handover_episode_08.hdf5 | fail | 25.93327 | [
"translation_error"
] | Expected: The left arm should take the toy fries carton from the right arm.
Observation: The left gripper closed on air, offset from the carton.
Result: The carton fell onto the table and never reached the left arm. | Align the left gripper with the toy fries carton before closing it. |
handover_episode_09 | handover | episode_09 | so101 | episodes/handover_episode_09.hdf5 | fail | 32.661909 | [
"closing_error"
] | Expected: The left arm should carry the block to the bowl.
Observation: The left gripper opened partway through the carry.
Result: The block fell onto the table beside the bowl. | Keep the left gripper closed on the block until it is above the bowl. |
handover_episode_10 | handover | episode_10 | so101 | episodes/handover_episode_10.hdf5 | fail | 45.233333 | [
"wrong_sequence"
] | Expected: The right arm should also pass the block across.
Observation: The right gripper never closed on the block.
Result: The block stayed on the passer's side, with only two items in the bowl. | Grasp the block with the right arm and pass it across as well. |
handover_episode_12 | handover | episode_12 | so101 | episodes/handover_episode_12.hdf5 | success | null | null | null | null |
handover_episode_13 | handover | episode_13 | so101 | episodes/handover_episode_13.hdf5 | fail | 10.430853 | [
"translation_error",
"orientation_error"
] | Expected: The right arm should take the block from the left arm.
Observation: The right gripper closed offset and unsquared, catching only the block's edge.
Result: The block fell onto the table beside the barrier's base. | Align the right arm square to the block's faces before closing the gripper. |
handover_episode_14 | handover | episode_14 | so101 | episodes/handover_episode_14.hdf5 | success | null | null | null | null |
FailTime
Failure annotations for robot manipulation rollouts, from the paper ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation. Each episode is labelled as a success or a failure, and every failure carries the moment it went wrong, its failure type, the reason, and how it could have been avoided.
- FailTime-Short — annotations for ViFailback recordings (AgileX Piper). Download ViFailback separately for the episodes themselves.
- FailTime-Long — long-horizon bimanual recordings (ALOHA and SO-101), included here as self-contained HDF5 files.
Layout
failtime_short/ train.json test.json tasks/
failtime_long/ test.json tasks/ episodes/*.hdf5
tasks/ holds one XML per task: instruction, objects and substages.
Annotations
{"sample": "pour_ball_transfer_cup_episode_19", "task_id": "pour_ball_transfer_cup", "episode": "episode_19",
"robot": "aloha", "hdf5": "episodes/pour_ball_transfer_cup_episode_19.hdf5", "verdict": "fail",
"onset": 1.146, "type": ["wrong_object"], "reason": "Expected: ...", "avoidance": "..."}
onset (seconds), type, reason and avoidance are given for failures only.
Episodes
Every FailTime-Long HDF5 holds one episode:
observation.state_eef |
both end-effectors: xyz, quaternion xyzw, gripper |
observation.state, action |
joint states and actions (observation.effort on ALOHA) |
observation.images.<camera>/mp4_bytes |
three camera videos: left wrist, right wrist, overhead |
timestamp, frame_index, episode_index, next.done |
frame bookkeeping |
Usage
hf download ChangUoA/FailTime --repo-type dataset --local-dir data
ln -s /path/to/ViFailback/raw_data data/failtime_short/episodes
The code is at github.com/Chang-AIML/ProTracer.
Citation
@article{dong2026protracer,
title = {ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation},
author = {Dong, Chang and Hosseinzadeh, Mehdi and Wong, King Hang and Liu, Lingqiao and Fraysse, Francois and Dayoub, Feras and Nguyen, Minh Hoai},
year = {2026}
}
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