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README.md

@@ -1,112 +1,95 @@
----
-license: apache-2.0
-task_categories:
-- robotics
-tags:
-- pick-and-place
-- failure-analysis
-- domain-randomization
-- franka-panda
-- isaac-sim
-size_categories:
-- 10K<n<100K
-dataset_info:
-  features:
-  - name: friction
-    dtype: float64
-  - name: mass
-    dtype: float64
-  - name: size
-    dtype: float64
-  - name: com_offset
-    dtype: float64
-  - name: ik_noise
-    dtype: float64
-  - name: obstacles
-    dtype: int64
-  - name: shape
-    dtype: string
-  - name: placement
-    dtype: string
-  - name: success
-    dtype: bool
-  - name: failure_type
-    dtype: string
-  - name: cycle_time
-    dtype: float64
-  - name: collision
-    dtype: bool
-  - name: drop
-    dtype: bool
-  - name: grasp_miss
-    dtype: bool
-  - name: zone
-    dtype: string
-  - name: robot
-    dtype: string
-  splits:
-  - name: franka
-    num_bytes: 1165541
-    num_examples: 10000
-  - name: ur5e
-    num_bytes: 941943
-    num_examples: 10000
-  - name: all
-    num_bytes: 2107484
-    num_examples: 20000
-  download_size: 1307807
-  dataset_size: 4214968
-configs:
-- config_name: default
-  data_files:
-  - split: franka
-    path: data/franka-*
-  - split: ur5e
-    path: data/ur5e-*
-  - split: all
-    path: data/all-*
----
-
-# RoboGate Failure Dictionary
-
-Systematic failure analysis for Franka Panda pick-and-place across
-10,000 parameter combinations using Latin Hypercube Sampling.
-
-## Dataset Description
-
-- **Generated**: 2026-03-20T22:41:26Z
-- **Samples**: 10,000
-- **Success Rate**: 33.3%
-- **Sampling**: Latin Hypercube (7D continuous + 2 categorical)
-- **Simulator**: NVIDIA Isaac Sim 5.x / Analytic physics model
-
-## Parameter Space
-
-| Parameter | Range | Scale |
-|-----------|-------|-------|
-| friction | 0.05 - 1.2 | log |
-| mass | 0.05 - 2.0 kg | log |
-| com_offset | 0.0 - 0.40 | linear |
-| size | 0.02 - 0.12 m | linear |
-| ik_noise | 0.0 - 0.04 m | linear |
-| obstacles | 0 - 4 | integer |
-| shape | box, cylinder, sphere, L_shape, irregular | categorical |
-| placement | 14 presets | categorical |
-
-## Zone Distribution
-
-| Zone | Count | Criteria |
-|------|------:|---------|
-| safe | 35 | fail_prob < 0.30 |
-| boundary | 2157 | 0.30 <= fail_prob < 0.70 |
-| danger | 7808 | fail_prob >= 0.70 |
-
-## Citation
-
-```bibtex
-@misc{robogate_failure_dict,
-  title={RoboGate Failure Dictionary},
-  year={2026},
-  publisher={RoboGate},
-}
-```
+---
+language:
+  - en
+  - ko
+license: mit
+task_categories:
+  - robotics
+  - tabular-classification
+tags:
+  - robotics
+  - failure-analysis
+  - pick-and-place
+  - nvidia-isaac-sim
+  - franka-panda
+  - ur5e
+  - physical-ai
+  - cross-robot
+size_categories:
+  - 10K<n<100K
+---
+
+# RoboGate Failure Dictionary
+
+A structured database of **20,000** robot AI failure experiments from NVIDIA Isaac Sim physical simulations across **2 robot platforms**.
+
+## Quick Stats
+
+| | Franka Panda | UR5e | Combined |
+|---|---|---|---|
+| **Experiments** | 10,000 | 10,000 | **20,000** |
+| **Success Rate** | 33.3% | 74.3% | 53.8% |
+| **Gripper** | Finger (parallel jaw) | SurfaceGripper (suction) | - |
+| **Failure Modes** | grasp_miss, drop, collision | grasp_miss only | 3 types |
+| **#1 Factor** | friction (r=+0.36) | mass (r=-0.35) | - |
+
+## Splits
+
+- `franka`: 10,000 Franka Panda experiments
+- `ur5e`: 10,000 UR5e experiments
+- `all`: 20,000 combined experiments (with `robot` column)
+
+## Usage
+
+```python
+from datasets import load_dataset
+
+ds = load_dataset("liveplex/robogate-failure-dictionary", split="all")
+print(f"Total: {len(ds)}")
+
+# Cross-robot comparison
+franka = load_dataset("liveplex/robogate-failure-dictionary", split="franka")
+ur5e = load_dataset("liveplex/robogate-failure-dictionary", split="ur5e")
+print(f"Franka: {sum(franka['success'])/len(franka):.1%}")
+print(f"UR5e:   {sum(ur5e['success'])/len(ur5e):.1%}")
+```
+
+## Key Findings
+
+- **2.2x success gap**: UR5e (74.3%) vs Franka (33.3%), z=-58.15, p<0.001
+- **Suction never drops**: UR5e drop rate = 0%; all failures are grasp_miss
+- **Friction is universal**: Both robots fail 80%+ when friction < 0.15
+- **Mass kills suction**: UR5e mass [2.4-3.0) -> 85% failure rate
+
+## Schema
+
+| Field | Type | Description |
+|-------|------|-------------|
+| robot | string | "franka_panda" or "ur5e" |
+| friction | float | Surface friction coefficient |
+| mass | float | Object mass in kg |
+| size | float | Object size in meters |
+| com_offset | float | Center of mass offset |
+| ik_noise | float | IK noise level |
+| obstacles | int | Number of obstacles |
+| shape | string | Object shape |
+| placement | string | Object placement |
+| success | bool | Whether the task succeeded |
+| failure_type | string | Classification of failure |
+| cycle_time | float | Time to complete in seconds |
+| collision | bool | Whether collision occurred |
+| drop | bool | Whether object was dropped |
+| grasp_miss | bool | Whether grasp was missed |
+| zone | string | Risk zone (safe/boundary/danger) |
+
+## Citation
+
+```bibtex
+@dataset{robogate_failure_dict_2026,
+  title={RoboGate Failure Dictionary: 20K Physics-Validated Pick & Place Failure Patterns},
+  author={RoboGate Team},
+  year={2026},
+  url={https://huggingface.co/datasets/liveplex/robogate-failure-dictionary},
+  note={Franka Panda + UR5e, NVIDIA Isaac Sim, Latin Hypercube Sampling}
+}
+```