| --- |
| 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. |
|
|
