taskvar
string | task_instruction
string | episode_id
int64 | images
list | failure_mode
string | detailed_subtask_name
string | failure_reason
string | plan
list | reward
int64 | execution_reward
int64 | planning_reward
int64 |
|---|---|---|---|---|---|---|---|---|---|---|
real_put_fruit_in_box+1
|
put the lemon in the box
| 0
|
[
"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"
] |
no_grasp
|
grasp lemon
|
[
"grasp lemon",
"move grasped object to box",
"release"
] | 0
| 0
| 1
|
|
real_put_fruit_in_box+1
|
put the lemon in the box
| 0
|
[
"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"
] |
no_grasp
|
grasp lemon
|
[
"grasp lemon",
"move grasped object to box",
"release"
] | 0
| 0
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
grasp grapes
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to blue plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
grasp banana
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the strawberry in the pink plate
| 0
|
[
"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"
] |
wrong_object
|
grasp strawberry
|
wrong object: banana
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp strawberry",
"move grasped object to pink plate",
"release"
] | 0
| 0
| 1
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to pink plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
translation_target
|
move grasped object to pink plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0
| 0
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to pink plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
wrong_target
|
move grasped object to pink plate
|
wrong target: blue plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0
| 0
| 1
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
translation_target
|
move grasped object to pink plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 0
| 0
| 1
|
|
real_put_fruits_in_plate+0
|
put the grapes in the blue plate, then put the banana in the pink plate
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to pink plate
|
[
"grasp grapes",
"move grasped object to blue plate",
"release",
"grasp banana",
"move grasped object to pink plate",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
ground_truth
|
grasp top part of the drawer
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
no_grasp
|
grasp top part of the drawer
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 0
| 0
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
ground_truth
|
grasp top part of the drawer
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
ground_truth
|
move grasped object out
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
ground_truth
|
move grasped object out
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
ground_truth
|
grasp frog toy
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 1
| 1
| 1
|
|
real_put_item_in_drawer+0
|
put the frog toy in the top part of the drawer
| 0
|
[
"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"
] |
translation_target
|
move grasped object to drawer
|
[
"grasp top part of the drawer",
"move grasped object out",
"release",
"grasp frog toy",
"move grasped object to top part of the drawer",
"release"
] | 0
| 0
| 1
|
|
real_stack_cup+0
|
stack a yellow cup onto a pink cup onto a navy cup
| 0
|
[
"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"
] |
ground_truth
|
grasp yellow cup
|
[
"grasp yellow cup",
"move grasped object to pink cup",
"release",
"grasp pink cup",
"move grasped object to navy cup",
"release"
] | 1
| 1
| 1
|
|
real_stack_cups+0
|
stack cyan cup onto yellow cup onto black cup
| 0
|
[
"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"
] |
no_grasp
|
grasp cyan cup
|
[
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0
| 0
| 1
|
|
real_stack_cups+0
|
stack cyan cup onto yellow cup onto black cup
| 0
|
[
"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"
] |
translation_object
|
grasp yellow cup
|
[
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0
| 0
| 1
|
|
real_stack_cups+0
|
stack cyan cup onto yellow cup onto black cup
| 0
|
[
"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"
] |
translation_object
|
grasp yellow cup
|
[
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 0
| 0
| 1
|
|
real_stack_cups+0
|
stack red cup onto yellow cup onto black cup
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to black cup
|
[
"grasp red cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 1
| 1
| 1
|
|
real_stack_cups+0
|
stack cyan cup onto black cup onto yellow cup
| 0
|
[
"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"
] |
ground_truth
|
move grasped object to black cup
|
[
"grasp cyan cup",
"move grasped object to black cup",
"release",
"grasp black cup",
"move grasped object to yellow cup",
"release"
] | 0
| 0
| 1
|
|
real_stack_cups+0
|
stack cyan cup onto yellow cup onto black cup
| 0
|
[
"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"
] |
ground_truth
|
grasp cyan cup
|
[
"grasp cyan cup",
"move grasped object to yellow cup",
"release",
"grasp yellow cup",
"move grasped object to black cup",
"release"
] | 1
| 1
| 1
|
|
real_hungry+0
|
i'm hungry, give me some food
| 0
|
[
"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"
] |
wrong_object
|
grasp squash
|
wrong object: screwdriver
|
[
"grasp squash"
] | 0
| 0
| 1
|
real_pick_item_in_box+0
|
put the rubik's cube in the box
| 1
|
[
"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"
] |
wrong_target
|
move grasped object to box
|
wrong target: table
|
[
"grasp rubik's cube",
"move grasped object to box",
"release"
] | 0
| 0
| 1
|
real_pick_item_in_box+0
|
store the food in the container
| 2
|
[
"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"
] |
ground_truth
|
grasp croissant
|
[
"grasp croissant",
"move grasped object to box",
"release"
] | 1
| 1
| 1
|
|
real_hungry+0
|
put the food in the box
| 0
|
[
"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"
] |
no_grasp
|
grasp squash
|
[
"grasp squash",
"move grasped object to box",
"release"
] | 0
| 0
| 1
|
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