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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- isaac-lab
- forge
- manipulation
- failure-detection
- force-torque
---
# Forge failure v1 — the episodes the expert lost
The **failed** episodes from the same collection that produced
[`angledusgar/forge-v1`](https://huggingface.co/datasets/angledusgar/forge-v1): identical policies,
identical environments, identical recording — only the outcome differs. Same schema, so the two
sets can be mixed or contrasted directly.
They are published apart from the successes on purpose. Imitation learning on failed trajectories
teaches failing, so a behaviour-cloning consumer should never receive them by accident; a failure
detector, on the other hand, cannot be trained or calibrated without them.
## Contents
| | |
|---|---|
| episodes | **51** |
| frames | 13,899 |
| tasks | all three Forge tasks, by per-frame task string |
| format | LeRobot `v2.1`, video (AV1), fps 15 |
Failures are rare because the experts are good: roughly **4%** for PegInsert and **1%** for
GearMesh and NutThread, out of ~1,000 episodes each. Collecting 100 failures per task at those
rates would need several thousand episodes per task.
**These are tail events, not a representative failure distribution.** They are what a near-ceiling
policy happens to get wrong, which is not the same as the failure modes an intervention system is
usually designed against. For a set where failure is common and mechanically meaningful — jams from
a peg cocked in the gripper — the task has to be made harder at collection time rather than
sampled from a policy that rarely fails.
## Features
Identical to `forge-v1`:
| key | dtype | shape |
|---|---|---|
| `image`, `wrist_image` | video (AV1) | 256×256×3 |
| `state` | float32 | (8,) — eef pos (3) + axis-angle (3) + gripper (2) |
| `actions` | float32 | (7,) |
| `ft` | float32 | (6,) — force (3) + torque (3), EE frame, smoothed |
| `ft_noisy` | float32 | (3,) — the force the policy observed |
The wrench channels are the point of this set: on a 0.114 mm clearance the difference between
approaching, contacting and binding is not visible at 224×224, but it is plain in the force trace.
## Provenance and caveats
Collection recipe, expert checkpoints, and the PegInsert stock-override caveat are documented in
the [`forge-v1` card](https://huggingface.co/datasets/angledusgar/forge-v1) and apply unchanged
here.
Two notes specific to this set:
- **Per-episode success labels are implicit.** Every episode here failed; there is no `success`
column, since a mixed set would need one and this one does not.
- **The first collection run lost its in-memory failures.** Failures were buffered and only
flushed once enough accumulated, and that run was killed under memory pressure before the flush.
The count here reflects what survived; roughly 19 failures from the first partial run were lost.
|