| {"id": 0, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/1_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/1_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/1_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/6_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/6_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/6_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the lemon in the box. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp lemon. Analyze whether the robot successfully performed the subtask grasp lemon. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws </category>"}]} | |
| {"id": 1, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/7_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruit_in_box+4/0/8_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the lemon in the box. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp lemon. Analyze whether the robot successfully performed the subtask grasp lemon. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws </category>"}]} | |
| {"id": 2, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp grapes. Analyze whether the robot successfully performed the subtask grasp grapes. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 3, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/2_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/4_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to blue plate. Analyze whether the robot successfully performed the subtask move grasped object to blue plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 4, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp banana. Analyze whether the robot successfully performed the subtask grasp banana. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 5, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/6_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the strawberry in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp strawberry. Analyze whether the robot successfully performed the subtask grasp strawberry. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> wrong object: banana </think> <answer> False </answer> <category> wrong object manipulated: the gripper manipulated the wrong object </category>"}]} | |
| {"id": 6, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/10_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/10_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/10_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 7, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/8_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/11_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong </category>"}]} | |
| {"id": 8, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/9_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/9_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/9_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/12_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/12_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/12_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 9, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/15_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> wrong target: blue plate </think> <answer> False </answer> <category> wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong </category>"}]} | |
| {"id": 10, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/16_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/16_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/16_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong </category>"}]} | |
| {"id": 11, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/14_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/17_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/17_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_fruits_in_plate+0/0/17_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the grapes in the blue plate, then put the banana in the pink plate. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to pink plate. Analyze whether the robot successfully performed the subtask move grasped object to pink plate. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 12, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp top part of the drawer. Analyze whether the robot successfully performed the subtask grasp top part of the drawer. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 13, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp top part of the drawer. Analyze whether the robot successfully performed the subtask grasp top part of the drawer. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws </category>"}]} | |
| {"id": 14, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/1_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp top part of the drawer. Analyze whether the robot successfully performed the subtask grasp top part of the drawer. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 15, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/2_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object out. Analyze whether the robot successfully performed the subtask move grasped object out. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 16, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/3_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object out. Analyze whether the robot successfully performed the subtask move grasped object out. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 17, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/4_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp frog toy. Analyze whether the robot successfully performed the subtask grasp frog toy. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 18, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/7_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/8_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/8_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_put_item_in_drawer+0/0/8_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the frog toy in the top part of the drawer. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to drawer. Analyze whether the robot successfully performed the subtask move grasped object to drawer. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong </category>"}]} | |
| {"id": 19, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cup+0/episode0/2_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack a yellow cup onto a pink cup onto a navy cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp yellow cup. Analyze whether the robot successfully performed the subtask grasp yellow cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 20, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/episode0/2_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack cyan cup onto yellow cup onto black cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp cyan cup. Analyze whether the robot successfully performed the subtask grasp cyan cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws </category>"}]} | |
| {"id": 21, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/13_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/13_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/13_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/14_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/14_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/14_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack cyan cup onto yellow cup onto black cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp yellow cup. Analyze whether the robot successfully performed the subtask grasp yellow cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning </category>"}]} | |
| {"id": 22, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/12_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/12_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/12_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/15_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/15_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/15_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack cyan cup onto yellow cup onto black cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp yellow cup. Analyze whether the robot successfully performed the subtask grasp yellow cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning </category>"}]} | |
| {"id": 23, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/18_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/19_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack red cup onto yellow cup onto black cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to black cup. Analyze whether the robot successfully performed the subtask move grasped object to black cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 24, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/4_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/4_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/4_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack cyan cup onto black cup onto yellow cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to black cup. Analyze whether the robot successfully performed the subtask move grasped object to black cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> success </category>"}]} | |
| {"id": 25, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/0_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/0_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/0_img_viewpoint_2.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_0.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_1.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_stack_cups+0/0/2_img_viewpoint_2.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to stack cyan cup onto yellow cup onto black cup. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp cyan cup. Analyze whether the robot successfully performed the subtask grasp cyan cup. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 26, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_wrist.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to i'm hungry, give me some food. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp squash. Analyze whether the robot successfully performed the subtask grasp squash. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> wrong object: screwdriver </think> <answer> False </answer> <category> wrong object manipulated: the gripper manipulated the wrong object </category>"}]} | |
| {"id": 27, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/2_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode1/5_img_viewpoint_wrist.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the rubik's cube in the box. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: move grasped object to box. Analyze whether the robot successfully performed the subtask move grasped object to box. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> wrong target: table </think> <answer> False </answer> <category> wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong </category>"}]} | |
| {"id": 28, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/0_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_pick_item_in_box+0/episode2/2_img_viewpoint_wrist.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to store the food in the container. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp croissant. Analyze whether the robot successfully performed the subtask grasp croissant. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> True </answer> <category> success </category>"}]} | |
| {"id": 29, "image": ["data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/0_img_viewpoint_wrist.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_left.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_right.png", "data/failure_forge/data/ur5fail_val_dataset/records/real_hungry+0/episode0/1_img_viewpoint_wrist.png"], "height_list": [256, 256, 256, 256, 256, 256], "width_list": [256, 256, 256, 256, 256, 256], "conversations": [{"from": "human", "value": "Multiview images at the start of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n\n Multiview images at the end of the subtask: \n Front view: <image> \n Left view: <image> \n Right view: <image> \n You are observing a manipulation task performed by a robot equipped with a gripper. The robot's high-level objective is to put the food in the box. The task is divided into multiple subtasks. We are currently evaluating the success or failure of the subtask: grasp squash. Analyze whether the robot successfully performed the subtask grasp squash. First think step by step with a reasoning trace enclosed within <think> </think> tags, then answer with a boolean between True or False enclosed within <answer> </answer> tags. Finally, categorize the success/failure category by enclosing it within <category> </category> tags among: ['success', 'no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws', 'imprecise grasping/pushing: the gripper attempted to grasp/push the correct object by moving toward it and closing its jaws, but missed due to inaccurate positioning', 'wrong object state or placement: the gripper tried to move, release, or change the state of the correct object, but the final placement or state is wrong', 'wrong object manipulated: the gripper manipulated the wrong object', 'no progress: neither the scene state nor the robot\u2019s configuration changed in any meaningful way']. E.g <think> reasoning </think> <answer> boolean </answer> <category> category </category>"}, {"from": "gpt", "value": "<think> </think> <answer> False </answer> <category> no gripper close: the gripper is correctly positioned to grasp the object, but it did not close its jaws </category>"}]} | |