chomeedapache-2.0
MimicGen square_d0 failures — tail cut at the outcome
A dataset of 100 failure episodes from the MimicGen square nut-assembly task with trajectories trimmed at outcome frames. Includes detailed per-episode labels for failure modes (lifted_then_failed, never_reached_nut, failed_grasp) and nut outcome states (dropped, never_lifted, released_elevated, held_at_end).
Downloads46
Episodes100
Why This Matters for Physical AI
This failure-focused dataset enables training of reward models and learning from negative trajectories by providing carefully labeled failure modes and outcome states in a manipulation task, addressing the challenge of learning from unsuccessful attempts in robotic assembly.
Technical Profile
- Modalities
- rgbproprioceptionstate
- Environment
- labsimulation
- Task Types
- manipulationpick_and_placenut-assembly
- Episodes
- 100
- Data Format
- parquet
- Annotation Types
- language_instructionsreward_labelsaction_labelsoutcome_labelsfailure_mode_labels
- License
- apache-2.0
Access
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