| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - robot-manipulation |
| - failure-detection |
| - failure-diagnosis |
| configs: |
| - config_name: failtime_short |
| data_files: |
| - split: train |
| path: failtime_short/train.json |
| - split: test |
| path: failtime_short/test.json |
| - config_name: failtime_long |
| data_files: |
| - split: test |
| path: failtime_long/test.json |
| --- |
| |
| # FailTime |
|
|
| Failure annotations for robot manipulation rollouts, from the paper |
| **ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation**. |
| Each episode is labelled as a success or a failure, and every failure carries |
| the moment it went wrong, its failure type, the reason, and how it could have |
| been avoided. |
|
|
| - **FailTime-Short** — annotations for [ViFailback](https://github.com/OpenHelix-Team/ViFailback) recordings (AgileX Piper). Download ViFailback separately for the episodes themselves. |
| - **FailTime-Long** — long-horizon bimanual recordings (ALOHA and SO-101), included here as self-contained HDF5 files. |
|
|
| ## Layout |
|
|
| ``` |
| failtime_short/ train.json test.json tasks/ |
| failtime_long/ test.json tasks/ episodes/*.hdf5 |
| ``` |
|
|
| `tasks/` holds one XML per task: instruction, objects and substages. |
|
|
| ## Annotations |
|
|
| ```json |
| {"sample": "pour_ball_transfer_cup_episode_19", "task_id": "pour_ball_transfer_cup", "episode": "episode_19", |
| "robot": "aloha", "hdf5": "episodes/pour_ball_transfer_cup_episode_19.hdf5", "verdict": "fail", |
| "onset": 1.146, "type": ["wrong_object"], "reason": "Expected: ...", "avoidance": "..."} |
| ``` |
|
|
| `onset` (seconds), `type`, `reason` and `avoidance` are given for failures only. |
|
|
| ## Episodes |
|
|
| Every FailTime-Long HDF5 holds one episode: |
|
|
| | | | |
| |---|---| |
| | `observation.state_eef` | both end-effectors: xyz, quaternion xyzw, gripper | |
| | `observation.state`, `action` | joint states and actions (`observation.effort` on ALOHA) | |
| | `observation.images.<camera>/mp4_bytes` | three camera videos: left wrist, right wrist, overhead | |
| | `timestamp`, `frame_index`, `episode_index`, `next.done` | frame bookkeeping | |
|
|
| ## Usage |
|
|
| ```bash |
| hf download ChangUoA/FailTime --repo-type dataset --local-dir data |
| ln -s /path/to/ViFailback/raw_data data/failtime_short/episodes |
| ``` |
|
|
| The code is at [github.com/Chang-AIML/ProTracer](https://github.com/Chang-AIML/ProTracer). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @article{dong2026protracer, |
| title = {ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation}, |
| author = {Dong, Chang and Hosseinzadeh, Mehdi and Wong, King Hang and Liu, Lingqiao and Fraysse, Francois and Dayoub, Feras and Nguyen, Minh Hoai}, |
| year = {2026} |
| } |
| ``` |
|
|
