action_patch_json string | canonical_video_path string | confidence_uncalibrated float64 | contact_sheet_path string | description string | deterministic_agent_agreement bool | deterministic_primary_label string | environment_seed int64 | episode_id int64 | episode_json_path string | evidence_json string | failure_step int64 | video video | final_grasped bool | final_vertical_error_m float64 | final_window_displacement_m float64 | final_window_support_contact_fraction float64 | final_xy_distance_m float64 | first_lift_step int64 | first_physical_success_step int64 | first_release_after_secure_grasp_step int64 | first_secure_grasp_step int64 | first_target_region_step int64 | instruction string | longest_grasp_steps int64 | min_xy_distance_m float64 | needs_human_review bool | outcome string | physical_success_ever bool | primary_label string | secondary_tags list | secure_grasp bool | source_final_position_m list | source_max_lift_m float64 | source_tilt_max_deg float64 | success bool | target_final_position_m list | target_max_displacement_m float64 | telemetry_path string | video_sha256 string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{"delta_xyz_m":null,"end_step_exclusive":24,"failure_step":21,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000048.mp4 | 1 | contact_sheets/failure/episode_000048.jpg | The cube was lifted but dropped before reaching the target region. | true | dropped_during_transport | 48 | 48 | episodes/episode_000048.json | [{"metric":"events.first_release_after_grasp_step","value":22},{"metric":"placement.final_xy_distance_m","value":0.04326024145123817},{"metric":"stability.final_window_displacement_m","value":0.008630127808446509}] | 21 | true | -0.030002 | 0.00863 | 0 | 0.04326 | 19 | -1 | 22 | 15 | -1 | stack the green block on the yellow block | 7 | 0.04326 | false | failure | false | dropped_during_transport | [
"multiple_grasp_segments",
"retained_at_timeout"
] | true | [
-0.19986724853515625,
0.00794219970703125,
0.8845303058624268
] | 0.039219 | 4.676933 | false | [
-0.20999908447265625,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000048.npz | bd8f6379310c117be0cd2b287a7b142dd045fb057549669fa8d5407da811ab94 | |
null | videos/success/episode_000049.mp4 | 1 | contact_sheets/success/episode_000049.jpg | The cube was successfully placed on the target. | true | success | 49 | 49 | episodes/episode_000049.json | [{"metric":"events.first_physical_success_step","value":29},{"metric":"placement.final_xy_distance_m","value":0.010613363957934005},{"metric":"placement.final_vertical_error_m","value":-2.7939677238464355e-08}] | -1 | false | -0 | 0.000019 | 1 | 0.010613 | 18 | 29 | 29 | 14 | 25 | stack the green block on the yellow block | 15 | 0.003066 | false | success | true | success | [] | true | [
-0.12206268310546875,
-0.048610687255859375,
0.9145317673683167
] | 0.068167 | 9.140571 | true | [
-0.11149978637695312,
-0.04964447021484375,
0.8845317959785461
] | 0.001515 | telemetry/episode_000049.npz | 121dc8d661d032e2bf3a9e81cc7d12b4e1d4306822f912adae81f30bb9e13498 | |
{"delta_xyz_m":null,"end_step_exclusive":31,"failure_step":28,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000050.mp4 | 1 | contact_sheets/failure/episode_000050.jpg | The cube was lifted but dropped before reaching the target region. | true | dropped_during_transport | 50 | 50 | episodes/episode_000050.json | [{"metric":"events.first_release_after_grasp_step","value":29},{"metric":"placement.final_xy_distance_m","value":0.041138110464715126},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 28 | false | -0.03 | 0 | 0 | 0.041138 | 22 | -1 | 29 | 17 | -1 | stack the green block on the yellow block | 12 | 0.041138 | false | failure | false | dropped_during_transport | [] | true | [
-0.146484375,
0.031951904296875,
0.8845318555831909
] | 0.054562 | 7.247083 | false | [
-0.10968589782714844,
0.050342559814453125,
0.8845322728157043
] | 0.000004 | telemetry/episode_000050.npz | 8eb75a6f1999eff484cbd416e3c605578ee666d6cf05eecc2524bf5914a62670 | |
{"delta_xyz_m":[-0.01845097541809082,-0.011058807373046875,-0.008827419951558113],"end_step_exclusive":30,"failure_step":27,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["placement.final_vertical_error_m","patch_context.closest_xy_target_minus_source_xyz_m"],"override":"translate_by_delta_xyz","p... | videos/failure/episode_000051.mp4 | 1 | contact_sheets/failure/episode_000051.jpg | The cube was placed with incorrect height or contact. | true | placement_height_or_contact | 51 | 51 | episodes/episode_000051.json | [{"metric":"placement.final_vertical_error_m","value":-0.0300005953758955},{"metric":"stability.final_window_displacement_m","value":0.0031468066194894474},{"metric":"events.first_physical_success_step","value":null}] | 27 | false | -0.030001 | 0.003147 | 0 | 0.045573 | 21 | -1 | 31 | 17 | 28 | stack the green block on the yellow block | 14 | 0.021511 | false | failure | false | placement_height_or_contact | [
"target_disturbed",
"terminal_motion_unsettled",
"large_source_tilt"
] | true | [
-0.1724606603384018,
-0.038787841796875,
0.8845317363739014
] | 0.064565 | 89.999558 | false | [
-0.21165475249290466,
-0.062042236328125,
0.8845323324203491
] | 0.012598 | telemetry/episode_000051.npz | 6893aca30d375431cff782023238f8f40dce9268f477c55b61d16fad88d5a3b9 | |
{"delta_xyz_m":[0.0026760101318359375,-0.008331298828125,-0.031296372413635254],"end_step_exclusive":38,"failure_step":35,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000052.mp4 | 1 | contact_sheets/failure/episode_000052.jpg | No stable bilateral grasp was established. | true | never_secured_grasp | 52 | 52 | episodes/episode_000052.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.12695115781656072},{"metric":"stability.final_window_displacement_m","value":3.814697265625e-06}] | 35 | false | -0.03 | 0.000004 | 0 | 0.126951 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.126951 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.20224952697753906,
0.037220001220703125,
0.8845316767692566
] | 0.000015 | 1.091817 | false | [
-0.10967254638671875,
-0.049648284912109375,
0.88453209400177
] | 0.000002 | telemetry/episode_000052.npz | 06621b03e5664eda5d8b025a0807e406cd296ebb07058962773115ffb1d1d1ba | |
null | videos/success/episode_000053.mp4 | 1 | contact_sheets/success/episode_000053.jpg | The source cube was successfully placed on the target cube. | true | success | 53 | 53 | episodes/episode_000053.json | [{"metric":"events.first_physical_success_step","value":27},{"metric":"placement.final_vertical_error_m","value":-4.4517219066619873e-07},{"metric":"placement.final_xy_distance_m","value":0.011986078080120394},{"metric":"stability.final_window_support_contact_fraction","value":1.0}] | -1 | false | -0 | 0.000053 | 1 | 0.011986 | 17 | 27 | 26 | 13 | 22 | stack the green block on the yellow block | 13 | 0.005495 | false | success | true | success | [] | true | [
-0.09814071655273438,
0.052097320556640625,
0.9145316481590271
] | 0.071761 | 7.997052 | true | [
-0.10987472534179688,
0.049652099609375,
0.88453209400177
] | 0.000735 | telemetry/episode_000053.npz | 93d5785f8fc493071e13356ae6a81af9d9d20884fa49941760a3d891e41ae49a | |
{"delta_xyz_m":[0.038295745849609375,0.010478973388671875,-0.012691736221313477],"end_step_exclusive":24,"failure_step":21,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"g... | videos/failure/episode_000054.mp4 | 1 | contact_sheets/failure/episode_000054.jpg | The robot never secured a grasp on the source cube. | true | never_secured_grasp | 54 | 54 | episodes/episode_000054.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"grasp_contact.final_grasped","value":false},{"metric":"grasp_contact.left_source_force_max_n","value":0.0},{"metric":"grasp_contact.right_source_force_max_n","value":0.0}] | 21 | false | -0.03 | 0 | 0 | 0.099633 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.099633 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.11002731323242188,
-0.049999237060546875,
0.8845320343971252
] | 0 | 0.001724 | false | [
-0.20965957641601562,
-0.049633026123046875,
0.88453209400177
] | 0 | telemetry/episode_000054.npz | 2f8f8df16d2b5cfee3cc0efde4492e8566109c83920e1fd6f7dc3cfa3e6c8fb4 | |
{"delta_xyz_m":[-0.001678466796875,0.04096221923828125,-0.026381731033325195],"end_step_exclusive":18,"failure_step":15,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000055.mp4 | 1 | contact_sheets/failure/episode_000055.jpg | The robot never secured a grasp on the source cube, with only one finger making contact. | true | never_secured_grasp | 55 | 55 | episodes/episode_000055.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"grasp_contact.final_grasped","value":false},{"metric":"grasp_contact.left_source_force_max_n","value":0.0},{"metric":"grasp_contact.right_source_force_max_n","value":35.30477992919979}] | 15 | false | -0.03 | 0 | 0 | 0.123165 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.123165 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10370254516601562,
-0.01221466064453125,
0.8845322132110596
] | 0.000149 | 2.383156 | false | [
-0.20999908447265625,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000055.npz | 684c7acced37d7583c29ec5b06bb25f5ea597256dab01b973678e711b91d0376 | |
{"delta_xyz_m":[0.028438568115234375,0.016681671142578125,-0.00640559196472168],"end_step_exclusive":22,"failure_step":19,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000056.mp4 | 1 | contact_sheets/failure/episode_000056.jpg | The robot never secured a grasp on the source cube, with only one finger making contact. | true | never_secured_grasp | 56 | 56 | episodes/episode_000056.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"grasp_contact.final_grasped","value":false},{"metric":"grasp_contact.left_source_force_max_n","value":0.10581180258147824},{"metric":"grasp_contact.right_source_force_max_n","value":38.101941821029094}] | 19 | false | -0.03 | 0 | 0 | 0.093551 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.093447 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10892105102539062,
-0.0431976318359375,
0.8845321536064148
] | 0.000161 | 1.307773 | false | [
-0.10967254638671875,
0.050350189208984375,
0.8845319747924805
] | 0 | telemetry/episode_000056.npz | fccbd14332a7482b591e13b80bf671b7e88544763c1412d24b2237280012651f | |
{"delta_xyz_m":[0.055126190185546875,0.019435882568359375,-0.0775178074836731],"end_step_exclusive":12,"failure_step":9,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000057.mp4 | 1 | contact_sheets/failure/episode_000057.jpg | The robot never secured a grasp on the source cube. | true | never_secured_grasp | 57 | 57 | episodes/episode_000057.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"grasp_contact.final_grasped","value":false},{"metric":"grasp_contact.left_source_force_max_n","value":0.0},{"metric":"grasp_contact.right_source_force_max_n","value":0.0}] | 9 | false | -0.03 | 0 | 0 | 0.13422 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.134218 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10968208312988281,
0.050342559814453125,
0.8845322728157043
] | 0 | 0.001454 | false | [
-0.20296287536621094,
-0.04616546630859375,
0.8845317959785461
] | 0.007527 | telemetry/episode_000057.npz | 67df56fc50c175854f2707f323e487901fc8d7331c68ab7174fddf81bc881ec1 | |
{"delta_xyz_m":[0.03508331626653671,0.019542694091796875,-0.1058499813079834],"end_step_exclusive":40,"failure_step":37,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000058.mp4 | 1 | contact_sheets/failure/episode_000058.jpg | The gripper did not make any meaningful contact with the source cube and never lifted it. | true | never_secured_grasp | 58 | 58 | episodes/episode_000058.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.1000019496568017},{"metric":"stability.final_window_displacement_m","value":2.0116567611694336e-07}] | 37 | false | -0.03 | 0 | 0 | 0.100002 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.100002 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10999809205532074,
0.05002593994140625,
0.8845317959785461
] | 0 | 0.001637 | false | [
-0.21000003814697266,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000058.npz | 6e90ae2f04ba9c6c76eaafda3b7f74e9b6412b3ce4711621c30e1c76428d3847 | |
{"delta_xyz_m":[0.0740814208984375,0.011493682861328125,-0.055479586124420166],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gra... | videos/failure/episode_000059.mp4 | 1 | contact_sheets/failure/episode_000059.jpg | The gripper did not make any meaningful contact with the source cube and never lifted it. | true | never_secured_grasp | 59 | 59 | episodes/episode_000059.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.09999084518135148},{"metric":"stability.final_window_displacement_m","value":0.0}] | 59 | false | -0.03 | 0 | 0 | 0.099991 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.099991 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10968208312988281,
0.050342559814453125,
0.8845322728157043
] | 0 | 0.001454 | false | [
-0.10967254638671875,
-0.049648284912109375,
0.88453209400177
] | 0.000002 | telemetry/episode_000059.npz | f3da610108ea961ed7b75b75500106eae621199839068285ddda5950b7568015 | |
{"delta_xyz_m":null,"end_step_exclusive":36,"failure_step":33,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000060.mp4 | 1 | contact_sheets/failure/episode_000060.jpg | The source cube was lifted but dropped before reaching the target region. | true | dropped_during_transport | 60 | 60 | episodes/episode_000060.json | [{"metric":"events.first_release_after_secure_grasp_step","value":34},{"metric":"placement.final_xy_distance_m","value":0.0769323383025127},{"metric":"stability.final_window_displacement_m","value":0.002182259463727951}] | 33 | false | -0.03 | 0.002182 | 0 | 0.076932 | 24 | -1 | 34 | 21 | -1 | stack the green block on the yellow block | 13 | 0.075475 | false | failure | false | dropped_during_transport | [
"multiple_grasp_segments",
"terminal_motion_unsettled"
] | true | [
-0.23529434204101562,
0.02709197998046875,
0.8845318555831909
] | 0.043469 | 5.819589 | false | [
-0.259979248046875,
0.09995651245117188,
0.8845319747924805
] | 0 | telemetry/episode_000060.npz | dcd540a1c25684bdc0c58b107ebbd4bfa842a888469ad032cc8dbb6b0e59a039 | |
{"delta_xyz_m":[-0.00957489013671875,0.0114593505859375,-0.032688260078430176],"end_step_exclusive":17,"failure_step":14,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gra... | videos/failure/episode_000061.mp4 | 1 | contact_sheets/failure/episode_000061.jpg | The gripper made contact with only one side of the source cube and never lifted it. | true | never_secured_grasp | 61 | 61 | episodes/episode_000061.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.20046336572096793},{"metric":"stability.final_window_displacement_m","value":2.288826120383297e-05}] | 14 | false | -0.03 | 0.000023 | 0 | 0.200463 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.200333 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height"
] | false | [
-0.2601318359375,
-0.10027694702148438,
0.8845320343971252
] | 0 | 0.002778 | false | [
-0.05966949462890625,
-0.09963607788085938,
0.8845319747924805
] | 0 | telemetry/episode_000061.npz | 788e1fd72b4262b0785b61316668e3545c8e7d0f010fc46c90ce84a03cbd9d3e | |
{"delta_xyz_m":null,"end_step_exclusive":39,"failure_step":36,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000062.mp4 | 1 | contact_sheets/failure/episode_000062.jpg | The source cube was lifted but dropped before reaching the target region. | true | dropped_during_transport | 62 | 62 | episodes/episode_000062.json | [{"metric":"events.first_release_after_secure_grasp_step","value":37},{"metric":"placement.final_xy_distance_m","value":0.2017642145546715},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 36 | false | -0.03 | 0 | 0 | 0.201764 | 26 | -1 | 37 | 22 | -1 | stack the green block on the yellow block | 15 | 0.196654 | false | failure | false | dropped_during_transport | [
"multiple_grasp_segments"
] | true | [
-0.19251632690429688,
-0.051464080810546875,
0.884531557559967
] | 0.065523 | 4.786269 | false | [
-0.059650421142578125,
0.10037612915039062,
0.8845320343971252
] | 0 | telemetry/episode_000062.npz | 6b7cc5a8443a100aa43674f3d5b0269ced1f3f60aec1d3900fdba4847b0a64a4 | |
{"delta_xyz_m":[-0.00470733642578125,-0.017992019653320312,-0.030581414699554443],"end_step_exclusive":30,"failure_step":27,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"... | videos/failure/episode_000063.mp4 | 1 | contact_sheets/failure/episode_000063.jpg | The robot failed to establish a stable bilateral grasp on the source cube. | true | never_secured_grasp | 63 | 63 | episodes/episode_000063.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.2049160631426221},{"metric":"stability.final_window_displacement_m","value":0.0039286550397975096}] | 27 | false | -0.03 | 0.003929 | 0 | 0.204916 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.198069 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height"
] | false | [
-0.2564582824707031,
0.10488700866699219,
0.8845317959785461
] | 0.001239 | 5.043404 | false | [
-0.2599983215332031,
-0.09999847412109375,
0.8845320343971252
] | 0 | telemetry/episode_000063.npz | 0cda39a9e22854f71fb90a31c2eb7d04d0ec49488086190fdd13e3622b562921 | |
{"delta_xyz_m":[-0.0077991485595703125,-0.018054962158203125,-0.043338000774383545],"end_step_exclusive":22,"failure_step":19,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase"... | videos/failure/episode_000064.mp4 | 1 | contact_sheets/failure/episode_000064.jpg | The robot failed to establish any contact with the source cube. | true | never_secured_grasp | 64 | 64 | episodes/episode_000064.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.2823609576012292},{"metric":"stability.final_window_displacement_m","value":0.0}] | 19 | false | -0.030001 | 0 | 0 | 0.282361 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.282361 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.25967979431152344,
0.09966659545898438,
0.8845319747924805
] | 0 | 0.001539 | false | [
-0.060009002685546875,
-0.09998130798339844,
0.8845325112342834
] | 0 | telemetry/episode_000064.npz | 948423ec79ed151c767b9d36a3f3ddca01ac2582b858bdada72bbbbad3041a75 | |
{"delta_xyz_m":[-0.00990787148475647,-0.0060577392578125,-0.037950336933135986],"end_step_exclusive":20,"failure_step":17,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000065.mp4 | 1 | contact_sheets/failure/episode_000065.jpg | The robot failed to establish any contact with the source cube. | true | never_secured_grasp | 65 | 65 | episodes/episode_000065.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.20032375766196991},{"metric":"stability.final_window_displacement_m","value":3.5762786865234375e-07}] | 17 | false | -0.03 | 0 | 0 | 0.200324 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.200324 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.2600075602531433,
0.0999908447265625,
0.8845319151878357
] | 0 | 0.002848 | false | [
-0.05968412011861801,
0.10034751892089844,
0.8845323920249939
] | 0 | telemetry/episode_000065.npz | 22ee2ec9c9eb0d09484341d42430431619daf0f59ad3aa692fed55a547c43b4e | |
{"delta_xyz_m":[0.008722305297851562,0.027759552001953125,-0.03438454866409302],"end_step_exclusive":18,"failure_step":15,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000066.mp4 | 1 | contact_sheets/failure/episode_000066.jpg | The robot failed to establish a stable bilateral grasp on the source cube. | true | never_secured_grasp | 66 | 66 | episodes/episode_000066.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.19529776708535235},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 15 | false | -0.03 | 0 | 0 | 0.195298 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.192879 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height"
] | false | [
-0.06505012512207031,
-0.08819389343261719,
0.8845322132110596
] | 0.00562 | 17.948898 | false | [
-0.2599906921386719,
-0.10000038146972656,
0.8845319747924805
] | 0.000008 | telemetry/episode_000066.npz | 72a40a31663450cf7169eb158e5b63419d7994b8acfd73a5d5c08e251fc53369 | |
{"delta_xyz_m":[0.0249176025390625,0.0169219970703125,-0.0074163079261779785],"end_step_exclusive":36,"failure_step":33,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000067.mp4 | 1 | contact_sheets/failure/episode_000067.jpg | The robot failed to establish a stable bilateral grasp on the source cube, and the source cube tilted significantly. | true | never_secured_grasp | 67 | 67 | episodes/episode_000067.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.31276025810711},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08},{"metric":"patch_context.min_ee_distance_source_minus_ee_xyz_m","value":[0.0249176025390625,0.0169219970703125,-0... | 33 | false | -0.03 | 0 | 0 | 0.31276 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.282802 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height",
"large_source_tilt"
] | false | [
-0.036945343017578125,
-0.11923789978027344,
0.8845323920249939
] | 0.006186 | 44.170848 | false | [
-0.260009765625,
0.0999908447265625,
0.8845322728157043
] | 0 | telemetry/episode_000067.npz | a2275d4a0ff3a211a4689a84cca5450d8f4eb1fb18a871f02a486bc3394c6f0a | |
{"delta_xyz_m":[-0.008880615234375,-0.000484466552734375,-0.027979791164398193],"end_step_exclusive":57,"failure_step":54,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000068.mp4 | 1 | contact_sheets/failure/episode_000068.jpg | The robot failed to establish a stable grasp and the source cube remained unstable. | true | never_secured_grasp | 68 | 68 | episodes/episode_000068.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.1542037390128066},{"metric":"stability.final_window_displacement_m","value":0.002485914975528677}] | 54 | false | -0.03 | 0.002486 | 0 | 0.154204 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 3 | 0.150777 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height",
"terminal_motion_unsettled",
"large_source_tilt"
] | false | [
-0.14887237548828125,
-0.025394439697265625,
0.8845316171646118
] | 0.005509 | 29.859814 | false | [
-0.059650421142578125,
0.10037612915039062,
0.8845320343971252
] | 0 | telemetry/episode_000068.npz | 2e67db8d9e902e3a3ee25ea52680d3b12df1569178c5c39b870f2cc853e014f9 | |
{"delta_xyz_m":[0.08568572998046875,0.06973497197031975,-0.11133915185928345],"end_step_exclusive":5,"failure_step":2,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"grasp"... | videos/failure/episode_000069.mp4 | 1 | contact_sheets/failure/episode_000069.jpg | The robot failed to make any contact with the source cube and did not clear the target height. | true | never_secured_grasp | 69 | 69 | episodes/episode_000069.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.28330248271887065},{"metric":"stability.final_window_displacement_m","value":2.2413743967549985e-07}] | 2 | false | -0.03 | 0 | 0 | 0.283302 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.283302 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.059696197509765625,
0.1003502607345581,
0.8845319151878357
] | 0 | 0.002228 | false | [
-0.2599983215332031,
-0.09999782592058182,
0.8845319747924805
] | 0 | telemetry/episode_000069.npz | 3039519fa6326b9538ff4cc4a4a381257953a1c745e6aa9bc7a8657a9feac4e9 | |
{"delta_xyz_m":[0.0853729248046875,0.06625903397798538,-0.1207895278930664],"end_step_exclusive":3,"failure_step":0,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"grasp","... | videos/failure/episode_000070.mp4 | 1 | contact_sheets/failure/episode_000070.jpg | The robot failed to make any contact with the source cube and did not clear the target height. | true | never_secured_grasp | 70 | 70 | episodes/episode_000070.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.19995247442529926},{"metric":"stability.final_window_displacement_m","value":2.2413743967549985e-07}] | 0 | false | -0.03 | 0 | 0 | 0.199952 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.199952 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.059696197509765625,
0.1003502607345581,
0.8845319151878357
] | 0 | 0.002228 | false | [
-0.2596473693847656,
0.09962853044271469,
0.8845322728157043
] | 0 | telemetry/episode_000070.npz | 1df0793d451ccd9d4532a7c6435fdf29e421718258ec3b7c4265f8200583e515 | |
{"delta_xyz_m":[0.0018100738525390625,0.004913166165351868,-0.022702455520629883],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"... | videos/failure/episode_000071.mp4 | 1 | contact_sheets/failure/episode_000071.jpg | The robot failed to establish a stable grasp and did not clear the target height. | true | never_secured_grasp | 71 | 71 | episodes/episode_000071.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.1962064084397896},{"metric":"stability.final_window_displacement_m","value":0.004748871825565956}] | 59 | false | -0.03 | 0.004749 | 0 | 0.196206 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 1 | 0.195865 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.05673408508300781,
0.09657802432775497,
0.8845319151878357
] | 0 | 0.193852 | false | [
-0.05963897705078125,
-0.09960687905550003,
0.8845322132110596
] | 0 | telemetry/episode_000071.npz | 637239445b9fcc6134f9996642623c592c578e471d92dfdb1c522bdab9b087ee | |
{"delta_xyz_m":[0.0,0.0,0.021209467694163323],"end_step_exclusive":20,"failure_step":17,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["transport.source_max_lift_m","patch_context.closest_xy_target_minus_source_xyz_m"],"override":"lift_then_translate","phase":"lift","rationale":"Retain the grasp w... | videos/failure/episode_000072.mp4 | 1 | contact_sheets/failure/episode_000072.jpg | The robot established a stable grasp but failed to lift the source cube meaningfully. | true | grasped_but_not_lifted | 72 | 72 | episodes/episode_000072.json | [{"metric":"events.first_lift_step","value":null},{"metric":"placement.final_vertical_error_m","value":-0.029783455654978752},{"metric":"stability.final_window_displacement_m","value":0.0007273030600240711}] | 17 | false | -0.029783 | 0.000727 | 0 | 0.094587 | -1 | -1 | 18 | 13 | -1 | stack the green block on the yellow block | 5 | 0.094587 | false | failure | false | grasped_but_not_lifted | [
"multiple_grasp_segments",
"never_cleared_target_height",
"terminal_motion_unsettled"
] | true | [
-0.20141981542110443,
-0.04419664293527603,
0.8847486972808838
] | 0.005791 | 1.206087 | false | [
-0.21000002324581146,
0.05000000447034836,
0.8845321536064148
] | 0 | telemetry/episode_000072.npz | 1b5b7fdb85491ddcd70af2987bbedd319a628a65c702da5eb41d400e8f3f200c | |
{"delta_xyz_m":null,"end_step_exclusive":30,"failure_step":27,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["placement.physical_success_ever","stability.final_window_displacement_m"],"override":"hold_pose","phase":"settle","rationale":"Hold the placement pose through the recorded settle interval ... | videos/failure/episode_000073.mp4 | 1 | contact_sheets/failure/episode_000073.jpg | The stack was initially successful but became unstable and collapsed. | true | unstable_stack | 73 | 73 | episodes/episode_000073.json | [{"metric":"stability.final_window_displacement_m","value":2.7840158926745325e-07},{"metric":"placement.final_vertical_error_m","value":-0.029999522492289543},{"metric":"placement.final_xy_distance_m","value":0.037197869135031904}] | 27 | false | -0.03 | 0 | 0 | 0.037198 | 17 | 23 | 25 | 13 | 21 | stack the green block on the yellow block | 12 | 0.018342 | false | failure | true | unstable_stack | [
"large_source_tilt"
] | true | [
-0.10959815979003906,
-0.020737100392580032,
0.884532630443573
] | 0.037746 | 89.999999 | false | [
-0.10424423217773438,
-0.05754765495657921,
0.8845321536064148
] | 0.00961 | telemetry/episode_000073.npz | acb63b7fa7fb62069040d2ff68f6793a94b54d6623fa02cfa115b44b4e007d9b | |
{"delta_xyz_m":null,"end_step_exclusive":23,"failure_step":20,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000074.mp4 | 1 | contact_sheets/failure/episode_000074.jpg | The cube was released or lost before reaching the target region. | true | dropped_during_transport | 74 | 74 | episodes/episode_000074.json | [{"metric":"events.first_release_after_grasp_step","value":21},{"metric":"placement.final_xy_distance_m","value":0.08544817255218301},{"metric":"stability.final_window_displacement_m","value":1.6158446669578552e-07}] | 20 | false | -0.03 | 0 | 0 | 0.085448 | 16 | -1 | 21 | 13 | -1 | stack the green block on the yellow block | 8 | 0.083146 | false | failure | false | dropped_during_transport | [
"never_cleared_target_height"
] | true | [
-0.18251419067382812,
0.005650799255818129,
0.8845317363739014
] | 0.017688 | 2.235662 | false | [
-0.10968780517578125,
0.05034652352333069,
0.8845322132110596
] | 0 | telemetry/episode_000074.npz | f14adfe173f8005dbdf6a66e266bbab4f9c66f3fa0a5ff5c92a2f2345c93faf8 | |
{"delta_xyz_m":[0.023090362548828125,-0.026979072019457817,-0.0024158358573913574],"end_step_exclusive":22,"failure_step":19,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":... | videos/failure/episode_000075.mp4 | 1 | contact_sheets/failure/episode_000075.jpg | No stable bilateral grasp was established. | true | never_secured_grasp | 75 | 75 | episodes/episode_000075.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.06239858545997445},{"metric":"stability.final_window_displacement_m","value":1.1934018492431453e-07}] | 19 | false | -0.030001 | 0 | 0 | 0.062399 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.062334 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height",
"large_source_tilt"
] | false | [
-0.19321823120117188,
0.010588983073830605,
0.8845312595367432
] | 0.004781 | 89.99999 | false | [
-0.2096405029296875,
-0.04960979148745537,
0.8845317959785461
] | 0 | telemetry/episode_000075.npz | f55eef564cd6bef1e270f0697ff7dc13c11f94c99e816aa4c9b613cc951ab566 | |
{"delta_xyz_m":[0.026165008544921875,-0.0006732940673828125,-0.01567012071609497],"end_step_exclusive":17,"failure_step":14,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"... | videos/failure/episode_000076.mp4 | 1 | contact_sheets/failure/episode_000076.jpg | No stable bilateral grasp was established. | true | never_secured_grasp | 76 | 76 | episodes/episode_000076.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.14114224721725865},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 14 | false | -0.03 | 0 | 0 | 0.141142 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 2 | 0.140946 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.19905471801757812,
0.05952644348144531,
0.8845319747924805
] | 0.000007 | 0.066836 | false | [
-0.10998153686523438,
-0.04995918273925781,
0.8845322132110596
] | 0.000004 | telemetry/episode_000076.npz | 99f103ef9a8b517dcb1ea21498287dfe9725b3fe599aaf56e0ef92982fa66bee | |
null | videos/success/episode_000077.mp4 | 1 | contact_sheets/success/episode_000077.jpg | The cube was successfully placed on the target. | true | success | 77 | 77 | episodes/episode_000077.json | [{"metric":"events.first_physical_success_step","value":42},{"metric":"placement.final_vertical_error_m","value":9.12696123123169e-08},{"metric":"placement.final_xy_distance_m","value":0.012655651428506012}] | -1 | false | 0 | 0.000006 | 1 | 0.012656 | 33 | 42 | 41 | 28 | 38 | stack the green block on the yellow block | 13 | 0.010252 | false | success | true | success | [
"multiple_grasp_segments"
] | true | [
-0.11302947998046875,
0.03739738464355469,
0.9145324230194092
] | 0.053341 | 7.93117 | true | [
-0.10982513427734375,
0.049640655517578125,
0.8845323324203491
] | 0.00104 | telemetry/episode_000077.npz | b322b42d6d09567112e985a6e9242fb8f67d2a3baab56f015fdf970f09766a78 | |
{"delta_xyz_m":[0.021793365478515625,0.029634475708007812,-0.03272664546966553],"end_step_exclusive":27,"failure_step":24,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000078.mp4 | 1 | contact_sheets/failure/episode_000078.jpg | The robot failed to establish a stable bilateral grasp on the source cube. | true | never_secured_grasp | 78 | 78 | episodes/episode_000078.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.09235088340959939},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 24 | false | -0.03 | 0 | 0 | 0.092351 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.080406 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height",
"large_source_tilt"
] | false | [
-0.16339111328125,
0.030298233032226562,
0.8845316171646118
] | 0.001808 | 89.998992 | false | [
-0.2096576690673828,
-0.04962730407714844,
0.8845319747924805
] | 0.000002 | telemetry/episode_000078.npz | 7f503dbd50831b4b1763ce846e5b81b1818844d223d715fb13c77c45718991f0 | |
{"delta_xyz_m":[0.002608358860015869,0.008188247680664062,-0.031093478202819824],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"g... | videos/failure/episode_000079.mp4 | 1 | contact_sheets/failure/episode_000079.jpg | The robot failed to establish a stable bilateral grasp on the source cube. | true | never_secured_grasp | 79 | 79 | episodes/episode_000079.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.1605292626076087},{"metric":"stability.final_window_displacement_m","value":0.00014542605026511164}] | 59 | false | -0.030007 | 0.000145 | 0 | 0.160529 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.141397 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height",
"large_source_tilt"
] | false | [
-0.06363244354724884,
-0.015926361083984375,
0.8845251798629761
] | 0.004185 | 89.999929 | false | [
-0.20999999344348907,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000079.npz | c2a5a7e62f1a70f5a943d77cc333b67502f575b9feef0f094c0fe318ed7848f2 | |
{"delta_xyz_m":[0.009080886840820312,0.0068111419677734375,-0.040875911712646484],"end_step_exclusive":15,"failure_step":12,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"... | videos/failure/episode_000080.mp4 | 1 | contact_sheets/failure/episode_000080.jpg | The robot failed to make any meaningful contact with the source cube. | true | never_secured_grasp | 80 | 80 | episodes/episode_000080.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.09999656684522301},{"metric":"stability.final_window_displacement_m","value":1.9073486328125e-06}] | 12 | false | -0.03 | 0.000002 | 0 | 0.099997 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.099997 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10966682434082031,
-0.04963111877441406,
0.8845317959785461
] | 0 | 0.001408 | false | [
-0.10966300964355469,
0.050365447998046875,
0.8845317959785461
] | 0.000002 | telemetry/episode_000080.npz | f3fdb01e4072e087a057ad8f1355bdddcd1f13fcb4d5c901a9846134caaf0677 | |
{"delta_xyz_m":null,"end_step_exclusive":16,"failure_step":13,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["transport.target_max_displacement_m","thresholds.target_disturbance_m"],"override":"hold_pose","phase":"transport","rationale":"Hold the recorded pose when target displacement crosses the ... | videos/failure/episode_000081.mp4 | 1 | contact_sheets/failure/episode_000081.jpg | The target cube was displaced during the attempt, invalidating the intended placement geometry. | true | target_displaced | 81 | 81 | episodes/episode_000081.json | [{"metric":"placement.final_xy_distance_m","value":0.1805499067471507},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08},{"metric":"events.first_physical_success_step","value":null}] | 13 | false | -0.03 | 0 | 0 | 0.18055 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.140939 | false | failure | false | target_displaced | [
"no_finger_contact",
"never_cleared_target_height",
"target_disturbed"
] | false | [
-0.10998153686523438,
0.05004310607910156,
0.8845321536064148
] | 0 | 0.002001 | false | [
-0.19247817993164062,
-0.11055755615234375,
0.8845319747924805
] | 0.063312 | telemetry/episode_000081.npz | 217485c95eab3b4b6e6b2385b5b2547cfc47582ab9c0e8ea93af7760f636c5c1 | |
{"delta_xyz_m":[0.03598785400390625,0.01381683349609375,-0.10716962814331055],"end_step_exclusive":60,"failure_step":58,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000082.mp4 | 1 | contact_sheets/failure/episode_000082.jpg | The robot failed to make any meaningful contact with the source cube. | true | never_secured_grasp | 82 | 82 | episodes/episode_000082.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.10001755722818714},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 58 | false | -0.03 | 0 | 0 | 0.100018 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.100018 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10998153686523438,
0.05004310607910156,
0.8845321536064148
] | 0 | 0.002001 | false | [
-0.20999908447265625,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000082.npz | 49ab0ecc2ebb334303aa5b0783e727269bb28442b5db832761f12a8b76d2e417 | |
{"delta_xyz_m":[0.01123809814453125,0.07046127319335938,-0.07894748449325562],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gras... | videos/failure/episode_000083.mp4 | 1 | contact_sheets/failure/episode_000083.jpg | The robot never secured a grasp on the source cube. | true | never_secured_grasp | 83 | 83 | episodes/episode_000083.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.10035005337387169},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 59 | false | -0.03 | 0 | 0 | 0.10035 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.10035 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.10967254638671875,
0.050350189208984375,
0.8845319747924805
] | 0 | 0.002431 | false | [
-0.11002731323242188,
-0.049999237060546875,
0.8845320343971252
] | 0 | telemetry/episode_000083.npz | c95931fbfb9be3b4e3aa94b640478bb670a41510cfa45895544b9fed15b6e98f | |
{"delta_xyz_m":[-0.022869110107421875,0.12974929809570312,0.0],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["placement.min_xy_distance_m","patch_context.closest_xy_target_minus_source_xyz_m"],"override":"translate_by_delta_xyz","phase":"transport","ratio... | videos/failure/episode_000084.mp4 | 1 | contact_sheets/failure/episode_000084.jpg | The robot grasped the source cube but did not bring it into the target region. | true | transport_incomplete | 84 | 84 | episodes/episode_000084.json | [{"metric":"events.first_target_region_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.13174929431853902},{"metric":"stability.final_window_displacement_m","value":0.10076718169020929}] | 59 | true | 0.04354 | 0.100767 | 0 | 0.131749 | 52 | -1 | -1 | 47 | -1 | stack the green block on the yellow block | 14 | 0.131749 | false | failure | false | transport_incomplete | [
"late_grasp",
"retained_at_timeout",
"terminal_motion_unsettled"
] | true | [
-0.23711013793945312,
-0.02979278564453125,
0.9580721259117126
] | 0.07354 | 7.135982 | false | [
-0.259979248046875,
0.09995651245117188,
0.8845319747924805
] | 0 | telemetry/episode_000084.npz | 00a03c64ff741c9cd5dc8781667ea570b06e9fdcce172737d11302f4c2d32c36 | |
{"delta_xyz_m":null,"end_step_exclusive":41,"failure_step":38,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000085.mp4 | 1 | contact_sheets/failure/episode_000085.jpg | The robot lifted the source cube but dropped it before reaching the target region. | true | dropped_during_transport | 85 | 85 | episodes/episode_000085.json | [{"metric":"events.first_release_after_secure_grasp_step","value":39},{"metric":"placement.final_xy_distance_m","value":0.046718784767037475},{"metric":"stability.final_window_displacement_m","value":1.9082797281243946e-06}] | 38 | false | -0.03 | 0.000002 | 0 | 0.046719 | 26 | -1 | 39 | 21 | -1 | stack the green block on the yellow block | 18 | 0.041379 | false | failure | false | dropped_during_transport | [] | true | [
-0.10446548461914062,
-0.086395263671875,
0.8845319747924805
] | 0.052609 | 8.296242 | false | [
-0.059665679931640625,
-0.09964752197265625,
0.8845323920249939
] | 0.000004 | telemetry/episode_000085.npz | eab5caffc68368ce6e897a19e1fbffa3870f051d4bf72b0520bfd5491a9db8b1 | |
{"delta_xyz_m":[-0.013930335640907288,-0.007244110107421875,-0.030549466609954834],"end_step_exclusive":23,"failure_step":20,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":... | videos/failure/episode_000086.mp4 | 1 | contact_sheets/failure/episode_000086.jpg | The robot never secured a grasp on the source cube. | true | never_secured_grasp | 86 | 86 | episodes/episode_000086.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.29006263282049954},{"metric":"stability.final_window_displacement_m","value":2.9802322387695312e-08}] | 20 | false | -0.03 | 0 | 0 | 0.290063 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.283347 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.26301220059394836,
-0.10646820068359375,
0.8845323920249939
] | 0.000002 | 0.158488 | false | [
-0.059653133153915405,
0.10036849975585938,
0.8845323920249939
] | 0 | telemetry/episode_000086.npz | 3bf90fb5c70976e6a22a5fdd6e3f473021f2721f98690b4d114d9a002f3f679b | |
{"delta_xyz_m":[-0.019786834716796875,-0.0200653076171875,-0.029479563236236572],"end_step_exclusive":60,"failure_step":59,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"g... | videos/failure/episode_000087.mp4 | 1 | contact_sheets/failure/episode_000087.jpg | The robot never secured a grasp on the source cube. | true | never_secured_grasp | 87 | 87 | episodes/episode_000087.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.19997024550686893},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 59 | false | -0.03 | 0 | 0 | 0.19997 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.19997 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.2599983215332031,
0.0999755859375,
0.8845321536064148
] | 0 | 0.002578 | false | [
-0.2600059509277344,
-0.09999465942382812,
0.8845320343971252
] | 0.000017 | telemetry/episode_000087.npz | c31ab6bea7668af69e430b78306b30a8aaeecce79948efbe83144a7f76af17b4 | |
{"delta_xyz_m":[-0.014476776123046875,-0.006259918212890625,-0.0305364727973938],"end_step_exclusive":53,"failure_step":50,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"g... | videos/failure/episode_000088.mp4 | 1 | contact_sheets/failure/episode_000088.jpg | The robot never secured a stable grasp on the source cube, and the source cube was still moving at the end of the episode. | true | never_secured_grasp | 88 | 88 | episodes/episode_000088.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.2776260480807616},{"metric":"stability.final_window_displacement_m","value":0.007272739986255072}] | 50 | false | -0.03 | 0.007273 | 0 | 0.277626 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.277598 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height",
"terminal_motion_unsettled"
] | false | [
-0.26467132568359375,
0.08758163452148438,
0.8845317363739014
] | 0.000003 | 2.155143 | false | [
-0.05966949462890625,
-0.09963607788085938,
0.8845319747924805
] | 0 | telemetry/episode_000088.npz | c7a467bd5c8e05a910b8bdd766f559332226bd03b304c87c2f20dc8c85227a55 | |
{"delta_xyz_m":[-0.001819610595703125,-0.004108428955078125,-0.030499517917633057],"end_step_exclusive":21,"failure_step":18,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":... | videos/failure/episode_000089.mp4 | 1 | contact_sheets/failure/episode_000089.jpg | The robot never secured a stable grasp on the source cube, and the source cube did not clear the target height. | true | never_secured_grasp | 89 | 89 | episodes/episode_000089.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.19917994977014195},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 18 | false | -0.03 | 0 | 0 | 0.19918 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.198819 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.2588233947753906,
0.10205078125,
0.88453209400177
] | 0.00061 | 2.404862 | false | [
-0.059650421142578125,
0.10038375854492188,
0.8845323324203491
] | 0 | telemetry/episode_000089.npz | 491ec482ea75e179bb45330734b60c6d97295d34c75acc997835b03a7817bba8 | |
{"delta_xyz_m":[-0.007762908935546875,-0.010410308837890625,-0.02946162223815918],"end_step_exclusive":20,"failure_step":17,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"... | videos/failure/episode_000090.mp4 | 1 | contact_sheets/failure/episode_000090.jpg | The robot never secured a stable grasp on the source cube, and the source cube did not clear the target height. | true | never_secured_grasp | 90 | 90 | episodes/episode_000090.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.18956706687624206},{"metric":"stability.final_window_displacement_m","value":0.002659196991402771}] | 17 | false | -0.03 | 0.002659 | 0 | 0.189567 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.187534 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height"
] | false | [
-0.07059097290039062,
-0.1076812744140625,
0.8845323324203491
] | 0.000003 | 0.919829 | false | [
-0.26000213623046875,
-0.09999465942382812,
0.8845320343971252
] | 0 | telemetry/episode_000090.npz | 05bffa817aeb204a5b83ef669d2174c17f366aeda4365db9389e441a094559a5 | |
{"delta_xyz_m":[0.019313812255859375,0.00772857666015625,-0.018688440322875977],"end_step_exclusive":24,"failure_step":21,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gr... | videos/failure/episode_000091.mp4 | 1 | contact_sheets/failure/episode_000091.jpg | The robot never secured a stable grasp on the source cube, and the source cube tilted significantly and did not clear the target height. | true | never_secured_grasp | 91 | 91 | episodes/episode_000091.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.2970149721615471},{"metric":"stability.final_window_displacement_m","value":0.0},{"metric":"grasp_contact.left_source_force_max_n","value":0.28537408876316206}] | 21 | false | -0.03 | 0 | 0 | 0.297015 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.282774 | false | failure | false | never_secured_grasp | [
"one_sided_finger_contact",
"never_cleared_target_height",
"large_source_tilt"
] | false | [
-0.06107330322265625,
-0.1206207275390625,
0.8845321536064148
] | 0.006053 | 89.999882 | false | [
-0.259979248046875,
0.09995651245117188,
0.8845319747924805
] | 0 | telemetry/episode_000091.npz | 7d66c17e5e3ad551038884f43806a80d5b8a2d5b16cda811eff5cf88271eff8f | |
{"delta_xyz_m":[0.0005645751953125,-0.00157928466796875,-0.019196152687072754],"end_step_exclusive":51,"failure_step":48,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"gra... | videos/failure/episode_000092.mp4 | 1 | contact_sheets/failure/episode_000092.jpg | The robot never secured a stable grasp on the source cube, and the source cube tilted significantly and was still moving at the end of the episode. | true | never_secured_grasp | 92 | 92 | episodes/episode_000092.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.20445647080340024},{"metric":"stability.final_window_displacement_m","value":0.026889678891188082},{"metric":"grasp_contact.left_source_force_max_n","value":288.93438861652425}] | 48 | false | -0.024664 | 0.02689 | 0 | 0.204456 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 2 | 0.198225 | false | failure | false | never_secured_grasp | [
"never_cleared_target_height",
"terminal_motion_unsettled",
"large_source_tilt"
] | false | [
-0.06942939758300781,
-0.10422134399414062,
0.8898678421974182
] | 0.005335 | 61.211262 | false | [
-0.05999946594238281,
0.10001754760742188,
0.88453209400177
] | 0 | telemetry/episode_000092.npz | b72ad89eed556215b44eccf95197943d65925dc7986c8131f932cc355d64dbf0 | |
{"delta_xyz_m":[0.08361077308654785,0.06606674194335938,-0.11747139692306519],"end_step_exclusive":4,"failure_step":1,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"grasp"... | videos/failure/episode_000093.mp4 | 1 | contact_sheets/failure/episode_000093.jpg | The gripper did not make any meaningful contact with the source cube, and the cube was never lifted. | true | never_secured_grasp | 93 | 93 | episodes/episode_000093.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.283347214835837},{"metric":"stability.final_window_displacement_m","value":2.3469328880310059e-07}] | 1 | false | -0.03 | 0 | 0 | 0.283347 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.283347 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.059653133153915405,
0.10036849975585938,
0.8845323920249939
] | 0 | 0.002456 | false | [
-0.2599996328353882,
-0.09999847412109375,
0.88453209400177
] | 0 | telemetry/episode_000093.npz | b3455afc1e0676fe1ec5ffbd288e6d2c2e5dbbbdc353fabf4034774867ac11ee | |
{"delta_xyz_m":[0.08507156372070312,0.06592941284179688,-0.12078934907913208],"end_step_exclusive":3,"failure_step":0,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"grasp"... | videos/failure/episode_000094.mp4 | 1 | contact_sheets/failure/episode_000094.jpg | The gripper did not make any meaningful contact with the source cube, and the cube was never lifted. | true | never_secured_grasp | 94 | 94 | episodes/episode_000094.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.19999885999279982},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 0 | false | -0.03 | 0 | 0 | 0.199999 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.199999 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.05999946594238281,
0.10001754760742188,
0.88453209400177
] | 0 | 0.001962 | false | [
-0.2599983215332031,
0.0999755859375,
0.8845321536064148
] | 0 | telemetry/episode_000094.npz | f09234bcd58ba6ce571d332b64895f24cd0edaa178cafea1bf6857818f28e692 | |
{"delta_xyz_m":[0.06779861450195312,0.07180404663085938,-0.11099076271057129],"end_step_exclusive":6,"failure_step":3,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["grasp_contact.secure_grasp","patch_context.min_ee_distance_source_minus_ee_xyz_m"],"override":"retry_grasp_approach","phase":"grasp"... | videos/failure/episode_000095.mp4 | 1 | contact_sheets/failure/episode_000095.jpg | The gripper did not make any meaningful contact with the source cube, and the cube was never lifted. | true | never_secured_grasp | 95 | 95 | episodes/episode_000095.json | [{"metric":"events.first_secure_grasp_step","value":null},{"metric":"placement.final_xy_distance_m","value":0.20001983733518575},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08}] | 3 | false | -0.03 | 0 | 0 | 0.20002 | -1 | -1 | -1 | -1 | -1 | stack the green block on the yellow block | 0 | 0.20002 | false | failure | false | never_secured_grasp | [
"no_finger_contact",
"never_cleared_target_height"
] | false | [
-0.059650421142578125,
0.10038375854492188,
0.8845323324203491
] | 0 | 0.00222 | false | [
-0.05966949462890625,
-0.09963607788085938,
0.8845319747924805
] | 0 | telemetry/episode_000095.npz | 163fe044b75d370150ff4317d3cd2ae2855aae49ce01402da19c8ee836ed1c1e | |
{"delta_xyz_m":null,"end_step_exclusive":58,"failure_step":55,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["events.first_release_after_secure_grasp_step","grasp_contact.final_grasped"],"override":"close_gripper_command_-1","phase":"transport","rationale":"Preserve the documented close command (-... | videos/failure/episode_000096.mp4 | 1 | contact_sheets/failure/episode_000096.jpg | The source cube was lifted but dropped before reaching the target region. | true | dropped_during_transport | 96 | 96 | episodes/episode_000096.json | [{"metric":"events.first_release_after_grasp_step","value":31},{"metric":"placement.final_xy_distance_m","value":0.0978956956433259},{"metric":"stability.final_window_displacement_m","value":0.014334581797479881},{"metric":"events.first_secure_grasp_step","value":51}] | 55 | false | -0.030001 | 0.014335 | 0 | 0.097896 | 55 | -1 | 56 | 51 | -1 | stack the green block on the yellow block | 5 | 0.097896 | false | failure | false | dropped_during_transport | [
"multiple_grasp_segments",
"late_grasp",
"never_cleared_target_height",
"terminal_motion_unsettled"
] | true | [
-0.1995086669921875,
-0.047332763671875,
0.884531557559967
] | 0.014295 | 2.010603 | false | [
-0.20999908447265625,
0.049999237060546875,
0.8845321536064148
] | 0 | telemetry/episode_000096.npz | 6b3ce20b0acc37059ca222591dd3d06853ec763c7bbf69f95884fee5b048e889 | |
{"delta_xyz_m":[-0.009746551513671875,-0.02475738525390625,0.0],"end_step_exclusive":28,"failure_step":25,"generated_by":"deterministic_patch_mapper_v2","guard_metric_paths":["placement.best_xy_margin_m","patch_context.closest_xy_target_minus_source_xyz_m"],"override":"translate_by_delta_xyz","phase":"align","rationale... | videos/failure/episode_000097.mp4 | 1 | contact_sheets/failure/episode_000097.jpg | The source cube was placed outside the allowed XY footprint of the target cube. | true | placement_xy_misaligned | 97 | 97 | episodes/episode_000097.json | [{"metric":"placement.final_xy_distance_m","value":0.04029566037580799},{"metric":"stability.final_window_displacement_m","value":5.960464477539063e-08},{"metric":"events.first_physical_success_step","value":null},{"metric":"events.first_target_region_step","value":26}] | 25 | false | -0.03 | 0 | 0 | 0.040296 | 18 | -1 | 31 | 13 | 26 | stack the green block on the yellow block | 18 | 0.026607 | false | failure | false | placement_xy_misaligned | [
"large_source_tilt"
] | true | [
-0.10414886474609375,
-0.010833740234375,
0.8845323920249939
] | 0.068488 | 89.999305 | false | [
-0.11023712158203125,
-0.05066680908203125,
0.8845320343971252
] | 0.000968 | telemetry/episode_000097.npz | 61ce4c1685a3c599fb8188e64c9f49e441c6867aa5a53ee884e124f189f79018 |
Octo-Small SIMPLER cube-stack rollout bank
This bank contains exactly 50 deterministic Octo-Small
rollouts for StackGreenCubeOnYellowCubeBakedTexInScene-v1: 3
successes and 47 failures. Every episode has a complete
61-frame H.264 video, a seven-frame contact sheet, losslessly stored per-step
telemetry, derived phase/geometry metrics, an external-LLM diagnosis, exact
evidence values, and a future action-patch hypothesis for failures.
Dataset: https://huggingface.co/datasets/lsnu/octo-small-simpler-cube-stack-rollout-bank-50
Dataset Viewer
The default train split is a self-contained VideoFolder view with one playable
rollout and stable, flattened diagnosis fields per row. It includes the primary
label, description, cited evidence as JSON text, secondary tags, patch hypothesis,
phase-event steps, grasp/transport/placement/stability metrics, and canonical
artifact paths. An event step of -1 means the event never occurred. The richer
nested episodes.jsonl remains the canonical audit record but is deliberately
excluded from automatic Viewer schema inference.
Videos with embedded summaries
For immediate browsing without waiting for the Dataset Viewer cache, every rollout also has a self-describing MP4 with a burned-in side panel. The panel leaves the task footage unobstructed and shows the outcome, diagnosis, review state, event steps, key measurements, cited evidence, tags, and unexecuted intervention.
Failure labels
dropped_during_transport: 7grasped_but_not_lifted: 1never_secured_grasp: 34placement_height_or_contact: 1placement_xy_misaligned: 1success: 3target_displaced: 1transport_incomplete: 1unstable_stack: 1
The simulator's terminal success predicate is authoritative. Failure labels are
evidence-bound diagnoses produced by Qwen/Qwen2.5-72B-Instruct through separate
metric-planning, classification, and review passes. They are hypotheses rather
than oracle causal labels; 0 episodes are
explicitly marked for human review. Raw model prompts/responses and deterministic
guardrail labels are retained under agent/ and in each episode record.
The displayed confidence is the review model's uncalibrated self-report, not an
empirical probability of correctness.
What is collected
- Executed 7D action at every control step.
- Robot qpos/qvel/generalized force; end-effector and finger poses.
- Octo's 384-D action-conditioning vector for every policy step.
- Source/target position, quaternion, linear velocity, and angular velocity.
- Source-target and finger-object contact-force vectors and grasp predicate.
- Policy-camera source/target pixel counts and centroids.
- Event timing, grasp/lift/transport/placement geometry, stability, visibility, action summaries, and correction vectors useful for guarded action overrides.
See schema.json, metric_catalog.json, and failure_taxonomy.json for exact
definitions. episodes.jsonl is the index; telemetry/episode_*.npz preserves
the raw traces so alternate metrics and taxonomies can be computed without
rerunning Octo or the simulator.
License and attribution
The artifact is distributed under CC BY-NC 4.0 because its rendered videos and
contact sheets contain ManiSkill assets carrying that license. Software and model
weights are not redistributed and retain their own licenses. See
LICENSE_AND_ATTRIBUTION.md for pinned sources and required credits.
Determinism and provenance
Episodes 48–97 were selected
from a width-48 GPU evaluation using environment seed = episode ID and Octo's
publication-compatible continuous RNG stream. A second reconstructed rollout
matched every initial state, action trace, final state, terminal metric, rich
telemetry trace, and recorded camera trace exactly. The source manifest, package
locks, repository fingerprints, hardware identity, and full source episode log
are under provenance/. SHA256SUMS covers every published file.
Caveats
- ManiSkill does not generally promise bitwise deterministic GPU PhysX; exact replay is an empirical property of the pinned RTX A4500 stack and is audited.
- A separate 48-episode cross-run audit matched initial states, actions, final states, terminal metrics, policy RNG entry states, and all commonly recorded camera traces before versus after rich telemetry instrumentation.
- Contact-force thresholds used for grasp and success come from the simulator's task predicates. Suggested patches are deterministic, bounded mappings from reviewed labels and recorded vectors; they are not executed or safety-validated.
- Raw classifier proposals are retained even when their free-text patch rationale mentions an unavailable control knob. Such text is audit evidence only and is never used by the deterministic patch mapper.
- Camera segmentation is diagnostic only and is not supplied to Octo.
- This artifact is for evaluation analysis, not policy training.
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