| { | |
| "dataset": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "fps": 30, | |
| "num_episodes": 60, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "episodes": [ | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "00", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 570, | |
| "tau_3": 660, | |
| "tau_4": 780, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 330, | |
| "language_description": "Gripper misaligned with cylinder and knocks it over; recover by realignment of object with left arm and complete placement task." | |
| }, | |
| "operator_id": "op-00", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "01", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 210, | |
| "tau_2": 450, | |
| "tau_3": 510, | |
| "tau_4": 630, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 330, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "02", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 330, | |
| "tau_3": 450, | |
| "tau_4": 780, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 660, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "03", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 420, | |
| "tau_3": 480, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 330, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "04", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 480, | |
| "tau_3": 570, | |
| "tau_4": 690, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "05", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 570, | |
| "tau_3": 600, | |
| "tau_4": 690, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 360, | |
| "language_description": "Gripper misaligned with cylinder; recover by realignment and picking object." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "06", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 720, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 390 , | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "07", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 420, | |
| "tau_3": 540, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-00", | |
| "collection_session": "initial" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "08", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 390, | |
| "tau_3": 570, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "09", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 120, | |
| "recovery_started_at_frame": 360, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "10", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 300, | |
| "tau_3": 420, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 270, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "11", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 240, | |
| "tau_3": 450, | |
| "tau_4": 630, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 300, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "12", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 210, | |
| "tau_2": 480, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "13", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "14", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 690, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 330, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "15", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 240, | |
| "tau_2": 450, | |
| "tau_3": 600, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 360, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "16", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 450, | |
| "tau_3": 600, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 0, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Misalignment with object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "17", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 450, | |
| "tau_3": 750, | |
| "tau_4": 810, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 270, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Slip of grippers on object; coordinate arms to realign object." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "18", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 630, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "jamming", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Gripper jams against object; realign grippers, open before contact with object" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "19", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 240, | |
| "tau_2": 510, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "20", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 480, | |
| "tau_3": 720, | |
| "tau_4": 840, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Slip" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "21", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 450, | |
| "tau_3": 510, | |
| "tau_4": 630, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 210, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "22", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 540, | |
| "tau_3": 600, | |
| "tau_4": 690, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 150, | |
| "recovery_started_at_frame": 300, | |
| "language_description": "Gripper opening before proper alignment" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "23", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 300, | |
| "tau_3": 480, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "poor_engagement", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Poor gripper engagement" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "24", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 450, | |
| "tau_3": 570, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 210, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "25", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 510, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "jamming", | |
| "induced_at_frame": 180, | |
| "recovery_started_at_frame": 510, | |
| "language_description": "Gripper jams against object; realign grippers, open before contact with object" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "26", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 21, | |
| "failure_mode": "slip", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Slip of grippers on object; reoriented arm to align grippers with object center." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "27", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 510, | |
| "tau_3": 540, | |
| "tau_4": 630, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 2, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 510, | |
| "language_description": "Gripper opening before proper alignment" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "28", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 450, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "premature_grasp", | |
| "induced_at_frame": 270, | |
| "recovery_started_at_frame": 600, | |
| "language_description": "Gripper closed before proper alignment; realign and pick object" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "29", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 240, | |
| "tau_3": 540, | |
| "tau_4": 720, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 3, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Gripper force dropped before reaching goal" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "30", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 240, | |
| "tau_3": 750, | |
| "tau_4": 840, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 3, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 450, | |
| "language_description": "Gripper force dropped before reaching goal" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "31", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 90, | |
| "tau_2": 180, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 3, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 270, | |
| "recovery_started_at_frame": 450, | |
| "language_description": "Gripper force dropped before reaching goal" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "32", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 300, | |
| "tau_3": 600, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 600, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "33", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 300, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 600, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "34", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 360, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 540, | |
| "language_description": "Misalignment with goal; picked up object, coordinate robot arms to reorient object." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "35", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 270, | |
| "tau_3": 390, | |
| "tau_4": 450, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Misalignment with lucky success" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "36", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 240, | |
| "tau_3": 390, | |
| "tau_4": 780, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 780, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "37", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 360, | |
| "tau_3": 540, | |
| "tau_4": 897, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 51, | |
| "language_description": "Misalignment with goal; picked up object, coordinate robot arms to reorient object." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "38", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 360, | |
| "tau_3": 690, | |
| "tau_4": 720, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 660, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "39", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 240, | |
| "tau_3": 330, | |
| "tau_4": 480, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 330, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "40", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 210, | |
| "tau_3": 540, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 210, | |
| "recovery_started_at_frame": 390, | |
| "language_description": "Poor alignment with goal" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "41", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 660, | |
| "tau_2": 720, | |
| "tau_3": 750, | |
| "tau_4": 840, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 1, | |
| "failure_mode": "delayed_start", | |
| "induced_at_frame": 30, | |
| "recovery_started_at_frame": 630, | |
| "language_description": "Late task start; resume object pick and place" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "42", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 180, | |
| "tau_3": 450, | |
| "tau_4": 480, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 270, | |
| "recovery_started_at_frame": 450, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "43", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 210, | |
| "tau_3": 300, | |
| "tau_4": 330, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 210, | |
| "recovery_started_at_frame": 240, | |
| "language_description": "Poor alignment with lucky success" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "44", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 180, | |
| "tau_3": 240, | |
| "tau_4": 330, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 3, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 240, | |
| "recovery_started_at_frame": 330, | |
| "language_description": "Poor alignment with lucky success" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "45", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 180, | |
| "tau_3": 270, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 420, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "46", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 180, | |
| "tau_3": 360, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 4, | |
| "failure_mode": "misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 660, | |
| "language_description": "Misalignment with goal; picked up object, realigned grippers with object center and completed task." | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "47", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 240, | |
| "tau_3": 330, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "retention_failure", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 450, | |
| "language_description": "Gripper not releasing object at goal: reduce gripper force" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "48", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 180, | |
| "tau_3": 270, | |
| "tau_4": 330, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "premature_release", | |
| "induced_at_frame": 270, | |
| "recovery_started_at_frame": 270, | |
| "language_description": "Gripper releases object prematurely with lucky success" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "49", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 150, | |
| "tau_3": 300, | |
| "tau_4": 420, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "excessive_force", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 420, | |
| "language_description": "Gripper exerts excessive downward force at poorly aligned area, causing object axis to shift" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "50", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 210, | |
| "tau_3": 330, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "excessive_force", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 540, | |
| "language_description": "Gripper exerts excessive downward force at poorly aligned area, causing object axis to shift" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "51", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 180, | |
| "tau_3": 240, | |
| "tau_4": 450, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "retention_failure", | |
| "induced_at_frame": 330, | |
| "recovery_started_at_frame": 450, | |
| "language_description": "Gripper not releasing object at goal" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "52", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 180, | |
| "tau_3": 240, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "freeze", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 570, | |
| "language_description": "Robot freezing after alignment with goal; complete object insertion and release object" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "53", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 90, | |
| "tau_2": 180, | |
| "tau_3": 300, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "excessive_force", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 540, | |
| "language_description": "Gripper exerts excessive downward force at poorly aligned area, causing object axis to shift" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "54", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 90, | |
| "tau_2": 180, | |
| "tau_3": 300, | |
| "tau_4": 600, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "excessive_force", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Gripper exerts excessive downward force at poorly aligned area, causing object axis to shift" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "55", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 150, | |
| "tau_3": 210, | |
| "tau_4": 750, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "retention_failure", | |
| "induced_at_frame": 300, | |
| "recovery_started_at_frame": 660, | |
| "language_description": "Gripper not releasing object at goal; realign and release gripper" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "56", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 150, | |
| "tau_2": 180, | |
| "tau_3": 330, | |
| "tau_4": 540, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "sub_mm_misalignment", | |
| "induced_at_frame": 360, | |
| "recovery_started_at_frame": 540, | |
| "language_description": "Gripper missing sub-millimeter alignment with goal; realign and release gripper" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "57", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 180, | |
| "tau_2": 210, | |
| "tau_3": 300, | |
| "tau_4": 660, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "sub_mm_misalignment", | |
| "induced_at_frame": 330, | |
| "recovery_started_at_frame": 600, | |
| "language_description": "Gripper missing sub-millimeter alignment with goal; realign and release gripper" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "58", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 120, | |
| "tau_2": 150, | |
| "tau_3": 300, | |
| "tau_4": 570, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "excessive_force", | |
| "induced_at_frame": 330, | |
| "recovery_started_at_frame": 540, | |
| "language_description": "Gripper exerts excessive downward force at poorly aligned area, causing object axis to shift" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| }, | |
| { | |
| "repo_id": "REBOOT26/sample_recovery-demonstrations", | |
| "task_id": "16mm-cylinder-install", | |
| "episode_index": "59", | |
| "task_description": "Pick the 16mm cylinder and install on the taskboard", | |
| "episode_type": "recovery", | |
| "duration_frames": 897, | |
| "fps": 30, | |
| "phase_boundaries": { | |
| "tau_0": 0, | |
| "tau_1": 90, | |
| "tau_2": 150, | |
| "tau_3": 270, | |
| "tau_4": 540, | |
| "tau_5": 897 | |
| }, | |
| "phase_names": [ | |
| "Align (pick)", | |
| "Engage (pick)", | |
| "Transport", | |
| "Align (place)", | |
| "Engage (place)" | |
| ], | |
| "failure": { | |
| "originating_phase": 5, | |
| "failure_mode": "sub_mm_misalignment", | |
| "induced_at_frame": 390, | |
| "recovery_started_at_frame": 480, | |
| "language_description": "Gripper missing sub-millimeter alignment with goal; realing and release object" | |
| }, | |
| "operator_id": "op-01", | |
| "collection_session": "2026-04-15" | |
| } | |
| ] | |
| } |