diff --git a/metadata.json b/metadata.json index ac4be29f43c37e76c3a4eff1e69ec1e69fa7c46b..eca6f6733db89d64201240ca7a1761a40cc31c75 100644 --- a/metadata.json +++ b/metadata.json @@ -7,15 +7,14 @@ "camera": { "camera-aria": "aria", "camera-cam_2_scene": "cam_2_scene", + "camera-cam_3_wrist": "cam_3_wrist", "camera-cam_4_wrist": "cam_4_wrist", "camera-camera_0": "camera_0", - "camera-camera_high": "camera_high", - "camera-camera_wrist_left": "camera_wrist_left", + "camera-camera_wrist_right": "camera_wrist_right", "camera-exterior": "exterior", "camera-exterior_cam": "exterior_cam", "camera-exterior_image_1_left": "exterior_image_1_left", "camera-front": "front", - "camera-head": "head", "camera-image_primary": "image_primary", "camera-left": "left", "camera-left_base_cam": "left_base_cam", @@ -30,8 +29,7 @@ "camera-top": "top", "camera-wrist": "wrist", "camera-wrist_cam": "wrist_cam", - "camera-wrist_image_left": "wrist_image_left", - "camera-zed": "zed" + "camera-wrist_image_left": "wrist_image_left" }, "failure_category": { "failure_category-collision_failure": "Collision failure", @@ -56,6 +54,8 @@ } }, "source": { + "face_candidates_removed": 5495, + "face_filter": true, "n_failure": 400, "n_success": 100, "n_total": 500, @@ -64,24 +64,22 @@ "videos": [ { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0001", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-hardware_mechanical_issue" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Hardware/mechanical issue" + "No failure category" ], - "failure_description": "robot died", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0001.jpg", - "severity_id": "severity-catastrophic___significant_damage_or_risk_of_damage__cannot_be_reattempted_without_repair", - "severity_label": "Catastrophic - significant damage or risk of damage, cannot be reattempted without repair", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0001.mp4", "success": 0.0, "task_id": "task-failure", @@ -91,8 +89,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0002", "failure_category_ids": [ "failure_category-no_failure_category" @@ -101,7 +99,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "pull out the block sticking out

wrist / Failure", "poster": "posters/ep_0002.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -114,8 +112,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0003", "failure_category_ids": [ "failure_category-no_failure_category" @@ -124,55 +122,53 @@ "No failure category" ], "failure_description": "", - "info": "roll down the computer mouse wheel

exterior / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0003.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0003.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0004", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "failure_description": "Came close to the button trying to press it but went back again without touching it.", + "info": "push the button

wrist / Failure", "poster": "posters/ep_0004.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0004.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-tactile", + "camera_label": "tactile", "episode_id": "ep_0005", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Collision failure" + "Manipulation failure (post contact)" ], - "failure_description": "failed to put sushi in bowl", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "did not finish wiping, some marks remaining", + "info": "wipe the black marks

tactile / Failure", "poster": "posters/ep_0005.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -195,33 +191,33 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0006.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0006.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "", + "additional_notes": "No motion is observed from the robot arms; the objects remain untouched.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0007", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Task not attempted" ], - "failure_description": "knife fell out of the bowl", - "info": "place the knife in the bowl

left / Failure", + "failure_description": "The robot arms remain completely stationary throughout the entire video and make no attempt to execute the commanded task.", + "info": "unstack the boxes and place them in a straight line on the pink dresser

right / Failure", "poster": "posters/ep_0007.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0007.mp4", "success": 0.0, "task_id": "task-failure", @@ -229,22 +225,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0008", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "The spoon slips out of the gripper.", - "info": "Pick up the spoon and place it in the sink.

wrist / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0008.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0008.mp4", "success": 0.0, "task_id": "task-failure", @@ -254,17 +250,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0009", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Task not attempted" + "Sequencing or semantic failure" ], - "failure_description": "Ended up reaching the bowl to a certain height and then stalling.", - "info": "put the bowl on the table

wrist / Failure", + "failure_description": "wrong mug", + "info": "put the purple mug in the basket

exterior / Failure", "poster": "posters/ep_0009.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -275,22 +271,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0010", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "failure_description": "Moved away from the button towards the wall and was moving back and forth without coming close to the button.", + "info": "push the button

wrist / Failure", "poster": "posters/ep_0010.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0010.mp4", "success": 0.0, "task_id": "task-failure", @@ -298,45 +294,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right_wrist", + "camera_label": "right_wrist", "episode_id": "ep_0011", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Pick up the spoon and place it in the sink.

wrist / Success", + "failure_description": "Robot reaches the object instead of lifting the bag first.", + "info": "pack three grocery objects into a seven eleven bag

right_wrist / Failure", "poster": "posters/ep_0011.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0011.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-front", "camera_label": "front", "episode_id": "ep_0012", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot got lost", - "info": "pick up the blue peg and insert it into the green peghole

front / Failure", + "failure_description": "", + "info": "pull out the block sticking out

front / Failure", "poster": "posters/ep_0012.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0012.mp4", "success": 0.0, "task_id": "task-failure", @@ -356,21 +352,21 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0013.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0013.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0014", "failure_category_ids": [ "failure_category-no_failure_category" @@ -379,7 +375,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0014.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -389,22 +385,20 @@ "task_label": "Failure" }, { - "additional_notes": "The robot fails to interact with the bowl or the vegetables, making no progress toward the commanded task.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0015", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Reaching failure (pre contact)", "Sequencing or semantic failure" ], - "failure_description": "The robot moves its arms over the towel but never reaches for or attempts to grasp the vegetables in the bowl.", - "info": "take all the veggies out of the bowl onto the towel

top / Failure", + "failure_description": "picks ball but moves in wrong direction and drops it", + "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", "poster": "posters/ep_0015.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -414,20 +408,20 @@ "task_label": "Failure" }, { - "additional_notes": "The video shows no movement from the robot, indicating the task was not attempted.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0016", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "Task not attempted" + "Reaching failure (pre contact)" ], - "failure_description": "The robot arms remained completely stationary and did not make any attempt to move or interact with the cord.", - "info": "stretch the cord

right / Failure", + "failure_description": "Robot grasped the peghole rather than the peg", + "info": "pick up the blue peg and insert it into the green peghole

front / Failure", "poster": "posters/ep_0016.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -450,7 +444,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0017.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -463,8 +457,8 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0018", "failure_category_ids": [ "failure_category-grasp_failure__at_contact" @@ -472,8 +466,8 @@ "failure_category_labels": [ "Grasp failure (at contact)" ], - "failure_description": "Robot fails to grasp the cable", - "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", + "failure_description": "fails to pick ball.", + "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", "poster": "posters/ep_0018.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -486,20 +480,20 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "camera_id": "camera-cam_3_wrist", + "camera_label": "cam_3_wrist", "episode_id": "ep_0019", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)" ], - "failure_description": "second cup misalingned and failed to stack.", - "info": "stack the cups

head / Failure", + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. Subsequent grasping attempts also failed as the robot did not attempt to realign its end-effector.", + "info": "pick up the red block and put it in the bowl

cam_3_wrist / Failure", "poster": "posters/ep_0019.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0019.mp4", "success": 0.0, "task_id": "task-failure", @@ -507,22 +501,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0020", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-hardware_mechanical_issue" ], "failure_category_labels": [ - "No failure category" + "Hardware/mechanical issue" ], - "failure_description": "", + "failure_description": "Robot died", "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0020.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-catastrophic___significant_damage_or_risk_of_damage__cannot_be_reattempted_without_repair", + "severity_label": "Catastrophic - significant damage or risk of damage, cannot be reattempted without repair", "src": "videos/ep_0020.mp4", "success": 0.0, "task_id": "task-failure", @@ -530,24 +524,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0021", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Collision failure" + "No failure category" ], - "failure_description": "The robot never gets close enough to the red bowl to grasp it, possibly because of a collision with the cabinets above.", - "info": "Pick up the red bowl and place it in the grey bowl.

right / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0021.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0021.mp4", "success": 0.0, "task_id": "task-failure", @@ -557,8 +549,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0022", "failure_category_ids": [ "failure_category-no_failure_category" @@ -567,14 +559,14 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "pick up the scoop from the sand

exterior / Success", "poster": "posters/ep_0022.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0022.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -590,7 +582,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the cups

left / Success", + "info": "put the bowl on the table

left / Success", "poster": "posters/ep_0023.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -603,8 +595,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", "episode_id": "ep_0024", "failure_category_ids": [ "failure_category-no_failure_category" @@ -613,14 +605,14 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Success", "poster": "posters/ep_0024.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0024.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -636,7 +628,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0025.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -649,8 +641,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0026", "failure_category_ids": [ "failure_category-no_failure_category" @@ -659,30 +651,32 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Success", + "info": "Pick up the green block and stack it on top of the yellow rectangle

wrist_cam / Failure", "poster": "posters/ep_0026.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0026.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0027", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-sequencing_or_semantic_failure", + "failure_category-other" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "Sequencing or semantic failure", + "Other" ], - "failure_description": "failed to grasp banana", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "episode timed out before placing the yellow mug.", + "info": "put the purple mug in the basket

exterior / Failure", "poster": "posters/ep_0027.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -693,22 +687,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0028", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "failed to grasp the scoop with multiple attempt", - "info": "pick up the scoop from the sand

exterior / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0028.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0028.mp4", "success": 0.0, "task_id": "task-failure", @@ -716,22 +710,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0029", "failure_category_ids": [ - "failure_category-hardware_mechanical_issue" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Hardware/mechanical issue" + "No failure category" ], - "failure_description": "Robot died", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0029.jpg", - "severity_id": "severity-catastrophic___significant_damage_or_risk_of_damage__cannot_be_reattempted_without_repair", - "severity_label": "Catastrophic - significant damage or risk of damage, cannot be reattempted without repair", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0029.mp4", "success": 0.0, "task_id": "task-failure", @@ -741,17 +735,19 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0030", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "Manipulation failure (post contact)", + "Sequencing or semantic failure" ], - "failure_description": "Reaching failure", - "info": "pick up the cube

exterior_image_1_left / Failure", + "failure_description": "has to go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0030.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -764,8 +760,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0031", "failure_category_ids": [ "failure_category-no_failure_category" @@ -774,7 +770,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0031.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -807,20 +803,20 @@ "task_label": "Failure" }, { - "additional_notes": "", + "additional_notes": "The video shows no movement from the robot, indicating that the task was never attempted.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0033", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "Task not attempted" ], - "failure_description": "the robot failed to grab the peg", - "info": "insert the purple peg into a hole

front / Failure", + "failure_description": "The robot arms remain completely stationary throughout the video.", + "info": "unstack the boxes and place them in a straight line on the pink dresser

top / Failure", "poster": "posters/ep_0033.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -831,56 +827,56 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0034", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "third cup didn't align and stack.", - "info": "stack the cups

head / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0034.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0034.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "additional_notes": "No motion is observed from either arm throughout the video, indicating the task was not even started.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0035", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "Put the plastic fruits into the blue bowl

wrist_cam / Success", + "failure_description": "The robot arms remain completely stationary and make no attempt to execute the task.", + "info": "take the blue screwdriver and put it on the towel

right / Failure", "poster": "posters/ep_0035.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0035.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0036", "failure_category_ids": [ "failure_category-no_failure_category" @@ -889,7 +885,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0036.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -902,8 +898,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0037", "failure_category_ids": [ "failure_category-no_failure_category" @@ -912,7 +908,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0037.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -921,71 +917,25 @@ "task_id": "task-failure", "task_label": "Failure" }, - { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", - "episode_id": "ep_0038", - "failure_category_ids": [ - "failure_category-no_failure_category" - ], - "failure_category_labels": [ - "No failure category" - ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Success", - "poster": "posters/ep_0038.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", - "src": "videos/ep_0038.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" - }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", - "episode_id": "ep_0039", + "camera_id": "camera-tactile", + "camera_label": "tactile", + "episode_id": "ep_0038", "failure_category_ids": [ "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ "Manipulation failure (post contact)" ], - "failure_description": "roll the mouse wheel upward", - "info": "roll down the computer mouse wheel

exterior / Failure", - "poster": "posters/ep_0039.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0039.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, - { - "additional_notes": "The video shows the robot taking no action to unstack the bowls, thus failing the task.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", - "episode_id": "ep_0040", - "failure_category_ids": [ - "failure_category-task_not_attempted" - ], - "failure_category_labels": [ - "Task not attempted" - ], - "failure_description": "The robot arms remain completely stationary and make no attempt to interact with the bowl.", - "info": "unstack the bowls

right / Failure", - "poster": "posters/ep_0040.jpg", + "failure_description": "the robot could not insert the peg", + "info": "insert the purple peg into a hole

tactile / Failure", + "poster": "posters/ep_0038.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0040.mp4", + "src": "videos/ep_0038.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -996,7 +946,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0041", + "episode_id": "ep_0039", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1004,11 +954,11 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", - "poster": "posters/ep_0041.jpg", + "info": "pick up the corn

right_shoulder_cam / Failure", + "poster": "posters/ep_0039.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0041.mp4", + "src": "videos/ep_0039.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -1017,9 +967,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", - "episode_id": "ep_0042", + "camera_id": "camera-wrist", + "camera_label": "wrist", + "episode_id": "ep_0040", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1027,34 +977,57 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", - "poster": "posters/ep_0042.jpg", + "info": "put the purple mug in the basket

wrist / Success", + "poster": "posters/ep_0040.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0042.mp4", + "src": "videos/ep_0040.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0041", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", + "poster": "posters/ep_0041.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0041.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", - "episode_id": "ep_0043", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0042", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot got lost", - "info": "pick up the blue peg and insert it into the green peghole

front / Failure", - "poster": "posters/ep_0043.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0043.mp4", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0042.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0042.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -1065,7 +1038,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0044", + "episode_id": "ep_0043", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1073,10 +1046,33 @@ "No failure category" ], "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", - "poster": "posters/ep_0044.jpg", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "poster": "posters/ep_0043.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", + "src": "videos/ep_0043.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" + }, + { + "additional_notes": "", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", + "episode_id": "ep_0044", + "failure_category_ids": [ + "failure_category-manipulation_failure__post_contact" + ], + "failure_category_labels": [ + "Manipulation failure (post contact)" + ], + "failure_description": "Robot got lost", + "info": "pick up the blue peg and insert it into the green peghole

wrist / Failure", + "poster": "posters/ep_0044.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0044.mp4", "success": 0.0, "task_id": "task-failure", @@ -1086,8 +1082,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-tactile", + "camera_label": "tactile", "episode_id": "ep_0045", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1096,7 +1092,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "drop dye into one of the cups

tactile / Success", "poster": "posters/ep_0045.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1109,8 +1105,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0046", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1119,7 +1115,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the teal block and stack it on top of the green block

right_base_cam / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0046.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1132,8 +1128,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0047", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1142,7 +1138,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0047.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1153,22 +1149,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0048", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot drops the spoon next to the utensil holder.", - "info": "Pick up the spoon and place it in the utensil holder.

wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0048.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0048.mp4", "success": 0.0, "task_id": "task-failure", @@ -1178,8 +1174,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0049", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1188,21 +1184,21 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "drop dye into one of the cups

wrist / Success", "poster": "posters/ep_0049.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0049.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0050", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1211,7 +1207,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow block and move it towards the center of the table

right_base_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0050.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1221,46 +1217,46 @@ "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "additional_notes": "The video shows no movement from the robot, indicating that the task was not attempted.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0051", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "failure_description": "The robot arms remain stationary and do not attempt to execute the commanded task.", + "info": "take the cube outside the cup and place it inside the closest box

right / Failure", "poster": "posters/ep_0051.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0051.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0052", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "failure_description": "Robot fails to reach for the cable", + "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", "poster": "posters/ep_0052.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0052.mp4", "success": 0.0, "task_id": "task-failure", @@ -1268,22 +1264,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0053", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "Board was OOD so it could not find rod.", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0053.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0053.mp4", "success": 0.0, "task_id": "task-failure", @@ -1291,22 +1287,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-aria", + "camera_label": "aria", "episode_id": "ep_0054", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Stack the yellow block on the blue cube

wrist_cam / Failure", + "failure_description": "The robot should lift the bag first; however, it reaches the first object from the right instead.", + "info": "pack three grocery objects into a seven eleven bag

aria / Failure", "poster": "posters/ep_0054.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0054.mp4", "success": 0.0, "task_id": "task-failure", @@ -1316,8 +1312,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0055", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1326,14 +1322,14 @@ "No failure category" ], "failure_description": "", - "info": "Put the plastic pear into the blue bowl

wrist_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", "poster": "posters/ep_0055.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0055.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -1349,7 +1345,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0056.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1360,68 +1356,68 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-tactile", + "camera_label": "tactile", "episode_id": "ep_0057", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "failure_description": "still black marks remaining", + "info": "wipe the black marks

tactile / Failure", "poster": "posters/ep_0057.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0057.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", - "episode_id": "ep_0058", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", + "episode_id": "ep_0058", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "failure_description": "drifted", + "info": "perform carbon fiber layup

camera_0 / Failure", "poster": "posters/ep_0058.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0058.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0059", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "When placing the last bowl, I accidentally knocked over the other bowls", - "info": "Stack all the bowls on the table into the middle bowl.

head / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0059.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0059.mp4", "success": 0.0, "task_id": "task-failure", @@ -1429,56 +1425,56 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0060", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "failure_description": "knife fell out of the bowl", + "info": "place the knife in the bowl

right / Failure", "poster": "posters/ep_0060.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0060.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "additional_notes": "The robot arms do not move, so the commanded task is never attempted.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0061", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "failure_description": "The robot remains completely stationary throughout the video and does not execute any movements.", + "info": "unstack the boxes and place them in a straight line on the pink dresser

top / Failure", "poster": "posters/ep_0061.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0061.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0062", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1487,7 +1483,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "Pick up the teal block and stack it on top of the green block

wrist_cam / Failure", "poster": "posters/ep_0062.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1498,58 +1494,56 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-cam_2_scene", - "camera_label": "cam_2_scene", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0063", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "pick up the red block and put it in the bowl

cam_2_scene / Success", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0063.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0063.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-wrist", "camera_label": "wrist", "episode_id": "ep_0064", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-other" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Other" + "No failure category" ], - "failure_description": "episode timed out before placing the purple mug, added yellow cup", - "info": "put the purple mug in the basket

wrist / Failure", + "failure_description": "", + "info": "put the purple mug in the basket

wrist / Success", "poster": "posters/ep_0064.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0064.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0065", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1558,7 +1552,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0065.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1581,21 +1575,21 @@ "No failure category" ], "failure_description": "", - "info": "Remove the green plastic toy from the blue bowl

right_base_cam / Success", + "info": "Stack the blue block on the yellow block

right_base_cam / Failure", "poster": "posters/ep_0066.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0066.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0067", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1604,7 +1598,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0067.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1615,22 +1609,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0068", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Misalignment happened in two of the stacking attempts, and the cup was released from too high so it didn't stack, and tripped over.", - "info": "stack the cups

left_wrist / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0068.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0068.mp4", "success": 0.0, "task_id": "task-failure", @@ -1638,22 +1632,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-aria", - "camera_label": "aria", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0069", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot fails to lift the bag, and the bag falls back.", - "info": "pack three grocery objects into a seven eleven bag

aria / Failure", + "failure_description": "", + "info": "Remove the yellow object from the bowl

wrist_cam / Failure", "poster": "posters/ep_0069.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0069.mp4", "success": 0.0, "task_id": "task-failure", @@ -1673,7 +1667,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0070.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1686,8 +1680,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0071", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1696,7 +1690,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0071.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1705,38 +1699,13 @@ "task_id": "task-failure", "task_label": "Failure" }, - { - "additional_notes": "The robot barely moved its arms and did not reach the target objects, resulting in a complete failure to execute the manipulation task. No damage occurred.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", - "episode_id": "ep_0072", - "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-task_not_attempted" - ], - "failure_category_labels": [ - "Reaching failure (pre contact)", - "Task not attempted" - ], - "failure_description": "The robot arms started moving late in the rollout but failed to reach the bowl or make contact with any objects.", - "info": "Pick up one object from the big bowl and put it inside the small box that is empty

right / Failure", - "poster": "posters/ep_0072.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0072.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", - "episode_id": "ep_0073", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0072", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1744,11 +1713,11 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", - "poster": "posters/ep_0073.jpg", + "info": "close the drawer

right_shoulder_cam / Success", + "poster": "posters/ep_0072.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0073.mp4", + "src": "videos/ep_0072.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" @@ -1759,7 +1728,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0074", + "episode_id": "ep_0073", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1767,11 +1736,11 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0074.jpg", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0073.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0074.mp4", + "src": "videos/ep_0073.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -1782,7 +1751,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0075", + "episode_id": "ep_0074", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -1790,11 +1759,11 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0075.jpg", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0074.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0075.mp4", + "src": "videos/ep_0074.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -1803,45 +1772,68 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", - "episode_id": "ep_0076", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", + "episode_id": "ep_0075", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-task_not_attempted" + "failure_category-sequencing_or_semantic_failure", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Task not attempted" + "Sequencing or semantic failure", + "Collision failure" ], - "failure_description": "stopped moving after grasping the eraser", - "info": "wipe the orange marks

tactile / Failure", - "poster": "posters/ep_0076.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0076.mp4", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "poster": "posters/ep_0075.jpg", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "src": "videos/ep_0075.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0076", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", + "poster": "posters/ep_0076.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0076.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0077", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream and put it in the orange bowl.", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "", + "info": "Stack the red cube on top of the yellow block

wrist_cam / Failure", "poster": "posters/ep_0077.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0077.mp4", "success": 0.0, "task_id": "task-failure", @@ -1851,8 +1843,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0078", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1861,21 +1853,21 @@ "No failure category" ], "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0078.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0078.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0079", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1884,14 +1876,14 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0079.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0079.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -1918,22 +1910,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0081", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "drifted", - "info": "perform carbon fiber layup

camera_0 / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0081.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0081.mp4", "success": 0.0, "task_id": "task-failure", @@ -1953,7 +1945,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Success", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0082.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1966,8 +1958,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0083", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1976,7 +1968,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0083.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -1989,8 +1981,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0084", "failure_category_ids": [ "failure_category-no_failure_category" @@ -1999,7 +1991,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0084.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2022,7 +2014,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0085.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2033,58 +2025,58 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0086", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)", + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "failure_description": "has to go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0086.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0086.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0087", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "failed to move banana to pot", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "", + "info": "pull out the block sticking out

front / Success", "poster": "posters/ep_0087.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0087.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0088", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2093,21 +2085,21 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "pick up the cube

exterior_image_1_left / Success", "poster": "posters/ep_0088.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0088.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0089", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2116,7 +2108,7 @@ "No failure category" ], "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0089.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2127,22 +2119,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0090", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "grasped sushi before banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0090.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0090.mp4", "success": 0.0, "task_id": "task-failure", @@ -2152,8 +2144,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0091", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2162,7 +2154,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0091.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2172,20 +2164,20 @@ "task_label": "Failure" }, { - "additional_notes": "The robot arms never approached or attempted to grasp the screwdriver to rotate it.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0092", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Task not attempted" + "Manipulation failure (post contact)" ], - "failure_description": "The robot does not attempt to interact with the screwdriver, instead moving the left arm aimlessly near the left edge.", - "info": "rotate the screwdriver 90 degrees CW on the table

top / Failure", + "failure_description": "the robot could not insert the peg", + "info": "insert the purple peg into a hole

front / Failure", "poster": "posters/ep_0092.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -2196,45 +2188,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0093", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot does not bring the spoon near the utensil holder and leaves it on the counter.", - "info": "Pick up the spoon and place it in the utensil holder.

right / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", "poster": "posters/ep_0093.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0093.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0094", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks ball but moves in wrong direction and drops it repeatedly", - "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", "poster": "posters/ep_0094.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0094.mp4", "success": 0.0, "task_id": "task-failure", @@ -2242,22 +2234,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0095", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "failure_description": "Failed to grasp banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0095.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0095.mp4", "success": 0.0, "task_id": "task-failure", @@ -2267,8 +2259,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0096", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2277,21 +2269,21 @@ "No failure category" ], "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Success", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0096.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0096.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0097", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2300,44 +2292,44 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the green block and put it on top of the blue rectangle

wrist_cam / Failure", + "info": "pick up the cube

exterior_image_1_left / Success", "poster": "posters/ep_0097.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0097.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0098", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks up the ice cream cone and puts it in the pot instead of picking up the sushi.", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", "poster": "posters/ep_0098.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0098.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0099", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2346,14 +2338,14 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0099.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0099.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -2392,7 +2384,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0101.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2403,45 +2395,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0102", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Third cup tripped over the existing stack.", - "info": "stack the cups

head / Failure", + "failure_description": "", + "info": "Pick basketball and place in blue bowl

exterior_cam / Success", "poster": "posters/ep_0102.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0102.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "No motion is observed from the robot; it fails to attempt the instructed task of finding the tweezer and placing it on the towel.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0103", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remain completely stationary throughout the entire video and do not move to execute the task.", - "info": "find the tweezer and place it on the towel

left / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0103.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0103.mp4", "success": 0.0, "task_id": "task-failure", @@ -2451,8 +2443,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0104", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2461,44 +2453,44 @@ "No failure category" ], "failure_description": "", - "info": "put the purple mug in the basket

exterior / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0104.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0104.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0105", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "failure_description": "grasped in the wrong way in the end", + "info": "pick up the scoop from the sand

exterior / Failure", "poster": "posters/ep_0105.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0105.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0106", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2507,7 +2499,7 @@ "No failure category" ], "failure_description": "", - "info": "put the purple mug in the basket

exterior / Failure", + "info": "Stack the orange blokc on top of the green triangle

left_base_cam / Failure", "poster": "posters/ep_0106.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2530,7 +2522,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0107.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2541,24 +2533,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0108", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "it's trying to reach a different object (the adapter in the scene). Failed to reach the button.", - "info": "push the button

left / Failure", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0108.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0108.mp4", "success": 0.0, "task_id": "task-failure", @@ -2587,36 +2577,13 @@ "task_id": "task-failure", "task_label": "Failure" }, - { - "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", - "episode_id": "ep_0110", - "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" - ], - "failure_category_labels": [ - "Grasp failure (at contact)" - ], - "failure_description": "Robot fails to grasp the cable", - "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", - "poster": "posters/ep_0110.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0110.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", - "episode_id": "ep_0111", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0110", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -2624,44 +2591,69 @@ "No failure category" ], "failure_description": "", - "info": "Put the red plastic round object into the bowl

right_base_cam / Success", - "poster": "posters/ep_0111.jpg", + "info": "close the drawer

right_shoulder_cam / Success", + "poster": "posters/ep_0110.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0111.mp4", + "src": "videos/ep_0110.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", - "episode_id": "ep_0112", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", + "episode_id": "ep_0111", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "Put the orange into the bowl

left_base_cam / Failure", - "poster": "posters/ep_0112.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", - "src": "videos/ep_0112.mp4", + "failure_description": "The robot tried to grasp the bowl multiple times and failed to pick it up", + "info": "put the bowl on the table

wrist / Failure", + "poster": "posters/ep_0111.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0111.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", + "episode_id": "ep_0112", + "failure_category_ids": [ + "failure_category-reaching_failure__pre_contact", + "failure_category-grasp_failure__at_contact" + ], + "failure_category_labels": [ + "Reaching failure (pre contact)", + "Grasp failure (at contact)" + ], + "failure_description": "The robot's grasping position was wrong, causing part of the gripper to catch on the red block before the gripper was fully descended. Subsequent attempts at grasping and did not align the gripper properly first, so they all missed.", + "info": "pick up the red block and put it in the bowl

cam_4_wrist / Failure", + "poster": "posters/ep_0112.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0112.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0113", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2670,7 +2662,7 @@ "No failure category" ], "failure_description": "", - "info": "Put the green plastic object on the table

left_base_cam / Success", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0113.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2681,22 +2673,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0114", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "Stack the blue block on top of the red block

right_base_cam / Failure", + "failure_description": "failed to grasp hammer leading to timeout", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", "poster": "posters/ep_0114.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0114.mp4", "success": 0.0, "task_id": "task-failure", @@ -2704,22 +2696,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0115", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "failure_description": "failed to grasp the peg", + "info": "insert the purple peg into a hole

front / Failure", "poster": "posters/ep_0115.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0115.mp4", "success": 0.0, "task_id": "task-failure", @@ -2739,62 +2731,60 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0116.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0116.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0117", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

right_wrist / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0117.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0117.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot fails to execute the commanded task, instead performing actions on unrelated objects while the towel remains untouched in its container.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0118", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Task not attempted" + "No failure category" ], - "failure_description": "The robot interacts with the wrong objects (a blue stick and a small bottle) and completely ignores the folded towel.", - "info": "take the folded towel from the cup and spread it on the table

top / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0118.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0118.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -2810,7 +2800,7 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0119.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2833,7 +2823,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0120.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2844,72 +2834,68 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0121", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "spilled bag while placing in the bin", - "info": "place the coffee bag in the blue basket

left / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0121.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0121.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-side", - "camera_label": "side", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0122", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot reached for the peghole rather than the peg and tore it off the table", - "info": "pick up the blue peg and insert it into the green peghole

side / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0122.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0122.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0123", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "missed grasp then reached for wrong object", - "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0123.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0123.mp4", "success": 0.0, "task_id": "task-failure", @@ -2919,8 +2905,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0124", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2929,44 +2915,44 @@ "No failure category" ], "failure_description": "", - "info": "Stack the blue rectangle on top of the yellow block

wrist_cam / Success", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0124.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0124.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0125", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", "poster": "posters/ep_0125.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0125.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0126", "failure_category_ids": [ "failure_category-no_failure_category" @@ -2975,7 +2961,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "Pick up the blue rectangle and put it on the right side of the table

left_base_cam / Failure", "poster": "posters/ep_0126.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -2998,7 +2984,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0127.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3009,45 +2995,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0128", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks ball but moves in wrong direction and drops it", - "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", - "poster": "posters/ep_0128.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0128.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0128.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "While the physical task of moving the boxes to the bowl was achieved, the robot continued executing uncommanded actions with other objects, indicating a failure to understand the semantic stopping condition.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0129", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot successfully placed the boxes in the bowl but failed to stop, proceeding to grasp and place a green fruit into the bowl as well.", - "info": "put the boxes inside the bowl

top / Failure", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0129.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0129.mp4", "success": 0.0, "task_id": "task-failure", @@ -3055,45 +3041,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0130", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "roll down the computer mouse wheel

exterior / Success", + "failure_description": "picked up the ice cream and put it in the pot.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0130.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0130.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "No movement was detected from either robot arm, meaning the task was not attempted at all.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0131", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remain stationary throughout the entire video and do not move to execute the command.", - "info": "Pick up one object from the big bowl and put it inside the small box that is empty

right / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0131.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0131.mp4", "success": 0.0, "task_id": "task-failure", @@ -3113,7 +3099,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0132.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3136,33 +3122,33 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0133.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0133.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "The robot does not move at all during the video, failing to perform the commanded task.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0134", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remain completely motionless and do not attempt to interact with the objects.", - "info": "unstack the boxes and put them in straight line

left / Failure", + "failure_description": "", + "info": "Stack the orange blokc on top of the green triangle

left_base_cam / Failure", "poster": "posters/ep_0134.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0134.mp4", "success": 0.0, "task_id": "task-failure", @@ -3170,22 +3156,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0135", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", + "failure_description": "The robot moved the toy on the right instead of the one on the left.", "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0135.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0135.mp4", "success": 0.0, "task_id": "task-failure", @@ -3193,22 +3179,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0136", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "failed to put banana in pot", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0136.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0136.mp4", "success": 0.0, "task_id": "task-failure", @@ -3218,8 +3204,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0137", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3228,7 +3214,7 @@ "No failure category" ], "failure_description": "", - "info": "Place the toy ice-cream the correct way up

right_base_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0137.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3239,22 +3225,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-side", - "camera_label": "side", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0138", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Rod near hole, but started oscillating and did not drop.", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0138.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0138.mp4", "success": 0.0, "task_id": "task-failure", @@ -3274,7 +3260,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0139.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3285,22 +3271,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0140", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "Robot makes multiple attempts to grasp pineapple and fails after making contact.", - "info": "pick up pineapple from pot and put in bowl

wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0140.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0140.mp4", "success": 0.0, "task_id": "task-failure", @@ -3308,22 +3294,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0141", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream cone and placed it in the pot.", - "info": "put the sushi in the pot

left / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0141.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0141.mp4", "success": 0.0, "task_id": "task-failure", @@ -3343,33 +3329,35 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0142.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0142.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0143", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-other" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Other" ], - "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "failure_description": "Struggled to pick up banana and timed out", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0143.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0143.mp4", "success": 0.0, "task_id": "task-failure", @@ -3379,8 +3367,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0144", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3389,7 +3377,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow object and put it on the center of the table

wrist_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0144.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3402,8 +3390,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0145", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3412,7 +3400,7 @@ "No failure category" ], "failure_description": "", - "info": "Put the orange into the bowl

wrist_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0145.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3425,8 +3413,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0146", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3435,85 +3423,60 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0146.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0146.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "The robot interacted with the wrong object and did not fulfill the placement condition specified in the command.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0147", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot grasped the orange bowl instead of the orange fruit, and simply moved it to another spot on the towel instead of placing it on the table.", - "info": "put the orange from off the towel to on the table

top / Failure", + "failure_description": "", + "info": "Pick up the red bowl and place it in the grey bowl.

wrist / Success", "poster": "posters/ep_0147.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0147.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0148", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream cone and placed it in the bowl.", - "info": "put the sushi in the pot

left / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0148.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0148.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, - { - "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-side", - "camera_label": "side", - "episode_id": "ep_0149", - "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" - ], - "failure_category_labels": [ - "Manipulation failure (post contact)", - "Collision failure" - ], - "failure_description": "Picked up the rod, but was unable to successfully insert into the hole due to misalignment.", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Failure", - "poster": "posters/ep_0149.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0149.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -3521,7 +3484,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0150", + "episode_id": "ep_0149", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -3530,20 +3493,43 @@ ], "failure_description": "", "info": "close the drawer

right_shoulder_cam / Success", - "poster": "posters/ep_0150.jpg", + "poster": "posters/ep_0149.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0150.mp4", + "src": "videos/ep_0149.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" }, + { + "additional_notes": "", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", + "episode_id": "ep_0150", + "failure_category_ids": [ + "failure_category-grasp_failure__at_contact" + ], + "failure_category_labels": [ + "Grasp failure (at contact)" + ], + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. Subsequent grasping attempts also failed as the robot did not attempt to realign its end-effector.", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", + "poster": "posters/ep_0150.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0150.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" + }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0151", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3552,35 +3538,33 @@ "No failure category" ], "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0151.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0151.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0152", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Collision failure" + "No failure category" ], - "failure_description": "The robot picks up the spoon, hits it onto the cabinets above the counter, and drops it on the counter.", - "info": "Pick up the spoon and place it in the utensil holder.

wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0152.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0152.mp4", "success": 0.0, "task_id": "task-failure", @@ -3590,8 +3574,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0153", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3600,14 +3584,14 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0153.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0153.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -3623,14 +3607,14 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0154.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0154.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -3646,14 +3630,14 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0155.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0155.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -3669,7 +3653,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0156.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3682,8 +3666,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0157", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3692,7 +3676,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0157.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3705,8 +3689,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0158", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3715,7 +3699,7 @@ "No failure category" ], "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0158.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3726,45 +3710,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-zed", - "camera_label": "zed", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0159", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

zed / Failure", + "failure_description": "", + "info": "pick up the scoop from the sand

exterior / Success", "poster": "posters/ep_0159.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0159.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0160", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "failure_description": "The robot fails to grasp the red bowl several times.", + "info": "Pick up the red bowl and place it in the grey bowl.

right / Failure", "poster": "posters/ep_0160.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0160.mp4", "success": 0.0, "task_id": "task-failure", @@ -3797,17 +3781,19 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-zed", - "camera_label": "zed", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0162", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)", + "Collision failure" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

zed / Failure", + "failure_description": "tried picking up the bowl but did not succeed. Ended up colliding with the plates on the rack.", + "info": "put the bowl on the table

left / Failure", "poster": "posters/ep_0162.jpg", "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", @@ -3817,23 +3803,23 @@ "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "additional_notes": "The video shows no movement from either robot arm; the task is not started.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0163", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "The robot arms remain completely stationary throughout the entire video and make no attempt to execute the commanded task.", + "info": "unstack the boxes and place them in a straight line on the pink dresser

right / Failure", "poster": "posters/ep_0163.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0163.mp4", "success": 0.0, "task_id": "task-failure", @@ -3843,8 +3829,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0164", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3853,7 +3839,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0164.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3864,22 +3850,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0165", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Got near hole with rod, but then bound up.", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

wrist / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0165.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0165.mp4", "success": 0.0, "task_id": "task-failure", @@ -3887,22 +3873,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0166", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "reached for the spoon which is the wrong object", - "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0166.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0166.mp4", "success": 0.0, "task_id": "task-failure", @@ -3910,22 +3896,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0167", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-hardware_mechanical_issue" ], "failure_category_labels": [ - "No failure category" + "Hardware/mechanical issue" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "robot died", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", "poster": "posters/ep_0167.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-catastrophic___significant_damage_or_risk_of_damage__cannot_be_reattempted_without_repair", + "severity_label": "Catastrophic - significant damage or risk of damage, cannot be reattempted without repair", "src": "videos/ep_0167.mp4", "success": 0.0, "task_id": "task-failure", @@ -3935,8 +3921,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0168", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3945,7 +3931,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0168.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3958,8 +3944,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0169", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3968,7 +3954,7 @@ "No failure category" ], "failure_description": "", - "info": "Place the purple object into the pink bowl

left_base_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0169.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -3981,8 +3967,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0170", "failure_category_ids": [ "failure_category-no_failure_category" @@ -3991,7 +3977,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Bring the purple bowl towards the center of the table

wrist_cam / Failure", "poster": "posters/ep_0170.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4002,22 +3988,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0171", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

tactile / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0171.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0171.mp4", "success": 0.0, "task_id": "task-failure", @@ -4037,56 +4023,56 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0172.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0172.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0173", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "One bowl was not stacked correctly onto the middle bowl.", - "info": "Stack all the bowls on the table into the middle bowl.

left_wrist / Failure", + "failure_description": "", + "info": "Stack the green cup into the purple cup

exterior_cam / Success", "poster": "posters/ep_0173.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0173.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0174", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the robot spills one MnM bag on the table", - "info": "Pour a bowl of M&Ms into a bowl of skittles

left_wrist / Failure", + "failure_description": "", + "info": "Bring the purple bowl towards the center of the table

right_base_cam / Failure", "poster": "posters/ep_0174.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0174.mp4", "success": 0.0, "task_id": "task-failure", @@ -4096,8 +4082,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0175", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4106,7 +4092,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0175.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4119,8 +4105,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-camera_wrist_left", - "camera_label": "camera_wrist_left", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0176", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4129,7 +4115,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the block and place it on the cardboard

camera_wrist_left / Failure", + "info": "Pick up the teal block and stack it on top of the green block

wrist_cam / Failure", "poster": "posters/ep_0176.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4152,7 +4138,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0177.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4186,24 +4172,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0179", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "Failed to grasp banana", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0179.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0179.mp4", "success": 0.0, "task_id": "task-failure", @@ -4213,8 +4197,8 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0180", "failure_category_ids": [ "failure_category-manipulation_failure__post_contact" @@ -4222,47 +4206,45 @@ "failure_category_labels": [ "Manipulation failure (post contact)" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

left_wrist / Failure", + "failure_description": "knife fell out of the bowl and knocked bowl over", + "info": "place the knife in the bowl

right / Failure", "poster": "posters/ep_0180.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0180.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot did not attempt to interact with the target objects (towel and cup), performing an unrelated action.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0181", "failure_category_ids": [ - "failure_category-task_not_attempted", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot completely ignored the towel and cup, instead grasping and moving a yellow bottle.", - "info": "take the folded towel from the cup and spread it on the table

right / Failure", + "failure_description": "", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Success", "poster": "posters/ep_0181.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0181.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0182", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4271,7 +4253,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0182.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4317,7 +4299,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0184.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4349,36 +4331,13 @@ "task_id": "task-success", "task_label": "Success" }, - { - "additional_notes": "The robot did not execute any movements to grasp the veggies or transfer them to the towel.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", - "episode_id": "ep_0186", - "failure_category_ids": [ - "failure_category-task_not_attempted" - ], - "failure_category_labels": [ - "Task not attempted" - ], - "failure_description": "The robot arms remained completely stationary throughout the entire duration of the video and did not attempt the task.", - "info": "take all the veggies out of the bowl onto the towel

top / Failure", - "poster": "posters/ep_0186.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0186.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", - "episode_id": "ep_0187", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0186", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -4386,11 +4345,11 @@ "No failure category" ], "failure_description": "", - "info": "Flip the red block

wrist_cam / Success", - "poster": "posters/ep_0187.jpg", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", + "poster": "posters/ep_0186.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0187.mp4", + "src": "videos/ep_0186.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" @@ -4401,7 +4360,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0188", + "episode_id": "ep_0187", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -4409,11 +4368,11 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", - "poster": "posters/ep_0188.jpg", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0187.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0188.mp4", + "src": "videos/ep_0187.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -4422,9 +4381,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", - "episode_id": "ep_0189", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0188", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -4432,35 +4391,35 @@ "No failure category" ], "failure_description": "", - "info": "Put the yellow bell pepper into the bowl

wrist_cam / Success", - "poster": "posters/ep_0189.jpg", + "info": "close the drawer

right_shoulder_cam / Success", + "poster": "posters/ep_0188.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0189.mp4", + "src": "videos/ep_0188.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" }, { - "additional_notes": "The robot interacted with the wrong object, completely ignoring the orange specified in the instructions.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", - "episode_id": "ep_0190", + "camera_id": "camera-wrist", + "camera_label": "wrist", + "episode_id": "ep_0189", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Manipulation failure (post contact)" ], - "failure_description": "The robot grasped a white toy animal instead of the orange.", - "info": "put the orange from off the towel to on the table

top / Failure", - "poster": "posters/ep_0190.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0190.mp4", - "success": 0.0, + "failure_description": "knife fell out of the bowl", + "info": "place the knife in the bowl

wrist / Failure", + "poster": "posters/ep_0189.jpg", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "src": "videos/ep_0189.mp4", + "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, @@ -4468,9 +4427,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", - "episode_id": "ep_0191", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", + "episode_id": "ep_0190", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -4478,34 +4437,34 @@ "No failure category" ], "failure_description": "", - "info": "Place the yellow block next to the teal cube

left_base_cam / Success", - "poster": "posters/ep_0191.jpg", + "info": "carbon fiber layup on concave surface

camera_0 / Success", + "poster": "posters/ep_0190.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0191.mp4", + "src": "videos/ep_0190.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", - "episode_id": "ep_0192", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0191", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "tried grasping the bowl multiple times and failed to pick it up.", - "info": "put the bowl on the table

left / Failure", - "poster": "posters/ep_0192.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0192.mp4", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0191.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0191.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -4516,7 +4475,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0193", + "episode_id": "ep_0192", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -4524,11 +4483,11 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", - "poster": "posters/ep_0193.jpg", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "poster": "posters/ep_0192.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0193.mp4", + "src": "videos/ep_0192.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -4537,56 +4496,77 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", - "episode_id": "ep_0194", + "camera_id": "camera-left_wrist", + "camera_label": "left_wrist", + "episode_id": "ep_0193", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-other" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Other" + "Manipulation failure (post contact)" ], - "failure_description": "Reached for the wrong object then timed out", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", - "poster": "posters/ep_0194.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", - "src": "videos/ep_0194.mp4", + "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", + "info": "pick up the cup on the table, and hang it on the mug tree.

left_wrist / Failure", + "poster": "posters/ep_0193.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0193.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", + "episode_id": "ep_0194", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "pick up the cube

exterior_image_1_left / Success", + "poster": "posters/ep_0194.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0194.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0195", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

tactile / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0195.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0195.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0196", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4595,7 +4575,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", "poster": "posters/ep_0196.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4606,33 +4586,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0197", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream instead of the sushi and put it in the pot", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0197.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0197.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0198", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4641,7 +4621,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0198.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4652,22 +4632,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0199", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The second cup didn't fully align with the first cup, result in a inperfect stack, which prevented the third cup to stack to the two cups", - "info": "stack the cups

left_wrist / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0199.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0199.mp4", "success": 0.0, "task_id": "task-failure", @@ -4675,35 +4655,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0200", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-hardware_mechanical_issue" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Hardware/mechanical issue" + "No failure category" ], - "failure_description": "The mug was picked up, but the left arm does not allow for degrees of freedom at that angle.", - "info": "pick up the cup on the table, and hang it on the mug tree.

left_wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0200.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0200.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0201", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4712,7 +4690,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0201.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4723,22 +4701,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right_wrist", + "camera_label": "right_wrist", "episode_id": "ep_0202", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "failure_description": "Third cup misaligned and failed to stack on top of the existing stack.", + "info": "stack the cups

right_wrist / Failure", "poster": "posters/ep_0202.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0202.mp4", "success": 0.0, "task_id": "task-failure", @@ -4748,8 +4726,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0203", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4758,21 +4736,21 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the green cup and stack it on the purple

top / Success", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0203.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0203.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "camera_id": "camera-overhead", + "camera_label": "overhead", "episode_id": "ep_0204", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4781,7 +4759,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "info": "pick up the stapler and put in bowl

overhead / Success", "poster": "posters/ep_0204.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4804,7 +4782,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0205.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4814,22 +4792,20 @@ "task_label": "Failure" }, { - "additional_notes": "The robot did not complete the swap task as it failed its initial grasp on the orange and subsequently targeted the wrong object (red pepper).", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0206", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Grasp failure (at contact)", "Sequencing or semantic failure" ], - "failure_description": "The robot failed to grasp the orange, then incorrectly picked up and moved the red pepper instead. The lemon and orange remained in their original containers.", - "info": "swap the places of the orange and the lemon

right / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0206.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -4842,8 +4818,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0207", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4852,21 +4828,21 @@ "No failure category" ], "failure_description": "", - "info": "Remove the plastic toy strawberry from the blue container

left_base_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0207.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0207.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0208", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4875,44 +4851,44 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0208.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0208.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0209", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The second cup tripper over the existing stack, resulting in the third cup cannot stack on top of them", - "info": "stack the cups

right_wrist / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0209.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0209.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0210", "failure_category_ids": [ "failure_category-no_failure_category" @@ -4921,7 +4897,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the red block and put it on the yellow rectangle

wrist_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0210.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -4932,22 +4908,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0211", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "spilled the dye outside of the cup", - "info": "drop dye into one of the cups

wrist / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0211.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0211.mp4", "success": 0.0, "task_id": "task-failure", @@ -4955,22 +4931,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0212", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "failure_description": "", "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0212.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0212.mp4", "success": 0.0, "task_id": "task-failure", @@ -4978,26 +4954,26 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_3_wrist", + "camera_label": "cam_3_wrist", "episode_id": "ep_0213", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "Put the green toy on the table

wrist_cam / Success", + "failure_description": "After properly grasping the red block, the robot made no further attempt to place it in the bowl.", + "info": "pick up the red block and place it in the bowl

cam_3_wrist / Failure", "poster": "posters/ep_0213.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0213.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -5007,16 +4983,16 @@ "camera_label": "image_primary", "episode_id": "ep_0214", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "failed to grasp banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0214.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0214.mp4", "success": 0.0, "task_id": "task-failure", @@ -5026,8 +5002,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0215", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5036,33 +5012,33 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the bowl on the table

left / Success", "poster": "posters/ep_0215.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0215.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-camera_high", - "camera_label": "camera_high", + "additional_notes": "The video shows a static scene where the robot does not move, indicating the task was not attempted.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0216", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "Pick up the block and place it on the cardboard

camera_high / Failure", + "failure_description": "The robot arms remain completely stationary throughout the video and make no attempt to execute the task.", + "info": "find the yellow stuffed toy and put it in the cup

top / Failure", "poster": "posters/ep_0216.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0216.mp4", "success": 0.0, "task_id": "task-failure", @@ -5082,33 +5058,33 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0217.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0217.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0218", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Sequencing or semantic failure" ], - "failure_description": "knife fell out of the bowl", - "info": "place the knife in the bowl

wrist / Failure", + "failure_description": "picks block but moves in wrong direction and drops it", + "info": "Pick green block and place on cardboard

exterior_cam / Failure", "poster": "posters/ep_0218.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0218.mp4", "success": 0.0, "task_id": "task-failure", @@ -5118,8 +5094,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0219", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5128,21 +5104,21 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the purple mug in the basket

exterior / Success", "poster": "posters/ep_0219.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0219.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0220", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5151,7 +5127,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", + "info": "Pick up the mango and put it on the table

wrist_cam / Success", "poster": "posters/ep_0220.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5162,22 +5138,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-zed", - "camera_label": "zed", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0221", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

zed / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0221.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0221.mp4", "success": 0.0, "task_id": "task-failure", @@ -5187,8 +5163,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0222", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5197,7 +5173,7 @@ "No failure category" ], "failure_description": "", - "info": "put the towel in the bowl

right / Success", + "info": "Remove the orange from the bowl and put it next to the green object

left_base_cam / Success", "poster": "posters/ep_0222.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5210,8 +5186,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0223", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5220,7 +5196,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0223.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5231,22 +5207,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0224", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "picks ball but moves in wrong direction and drops it", + "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", "poster": "posters/ep_0224.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0224.mp4", "success": 0.0, "task_id": "task-failure", @@ -5254,24 +5230,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0225", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Collision failure" + "No failure category" ], - "failure_description": "Robot fails to grasp the cable while hitting its end effector against the white block", - "info": "Push the Displayport cable into the cable holder on the white block

top / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0225.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0225.mp4", "success": 0.0, "task_id": "task-failure", @@ -5279,22 +5253,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0226", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks block but moves in wrong direction and drops it", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0226.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0226.mp4", "success": 0.0, "task_id": "task-failure", @@ -5302,22 +5276,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0227", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "pull out the block sticking out

front / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0227.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0227.mp4", "success": 0.0, "task_id": "task-failure", @@ -5325,22 +5299,26 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0228", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-manipulation_failure__post_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Manipulation failure (post contact)", + "Collision failure" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "dropped hammer in collision with plate", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", "poster": "posters/ep_0228.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0228.mp4", "success": 0.0, "task_id": "task-failure", @@ -5348,49 +5326,47 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0229", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)", - "Collision failure" + "No failure category" ], - "failure_description": "Robot sometimes fails to grasp the cable, sometimes drops it, while hitting its end effector against the white block", - "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", + "failure_description": "", + "info": "Remove the orange from the bowl

right_base_cam / Success", "poster": "posters/ep_0229.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0229.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0230", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)", + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "failure_description": "spilled bag while placing in the bin", + "info": "place the coffee bag in the blue basket

right / Failure", "poster": "posters/ep_0230.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0230.mp4", "success": 0.0, "task_id": "task-failure", @@ -5410,7 +5386,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0231.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5421,22 +5397,24 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0232", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)", + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "failure_description": "has to go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0232.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0232.mp4", "success": 0.0, "task_id": "task-failure", @@ -5444,22 +5422,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0233", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream cone and put it in the orange bowl.", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0233.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0233.mp4", "success": 0.0, "task_id": "task-failure", @@ -5467,45 +5445,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0234", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "picks up the ice cream cone (instead of the sushi) and puts it in the bowl instead of the pot.", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0234.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0234.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0235", "failure_category_ids": [ - "failure_category-hardware_mechanical_issue" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Hardware/mechanical issue" + "No failure category" ], - "failure_description": "the joint reaches joint speed limit safety control.", - "info": "pick up the spray from the table

exterior / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0235.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0235.mp4", "success": 0.0, "task_id": "task-failure", @@ -5515,8 +5493,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0236", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5525,7 +5503,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow object and bring it towards the center of the table

wrist_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0236.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5548,33 +5526,33 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0237.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0237.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0238", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "the robot failed to pick up the peg", - "info": "insert the purple peg into a hole

front / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0238.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0238.mp4", "success": 0.0, "task_id": "task-failure", @@ -5582,29 +5560,29 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0239", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "Grasped the wrong object", + "info": "pick up the blue peg and insert it into the green peghole

wrist / Failure", "poster": "posters/ep_0239.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0239.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot fails to execute any reaching or grasping motions toward the target object, leaving the scene undisturbed.", + "additional_notes": "Throughout the video, both robot arms remain entirely stationary and do not interact with the environment or the target objects.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", "camera_id": "camera-right", @@ -5616,8 +5594,8 @@ "failure_category_labels": [ "Task not attempted" ], - "failure_description": "The robot moves its grippers slightly but makes no attempt to reach for or grasp the blue screwdriver.", - "info": "take the blue screwdriver and put it on the towel

right / Failure", + "failure_description": "The robot failed to move or initiate any action to complete the commanded task.", + "info": "put one stuffed toy in the small container

right / Failure", "poster": "posters/ep_0240.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -5640,7 +5618,7 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0241.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5653,8 +5631,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0242", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5663,21 +5641,21 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0242.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0242.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0243", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5686,7 +5664,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "put the bowl on the table

wrist / Success", "poster": "posters/ep_0243.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5697,22 +5675,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0244", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot fails to lift the bag upright.", - "info": "pack three grocery objects into a seven eleven bag

right_wrist / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0244.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0244.mp4", "success": 0.0, "task_id": "task-failure", @@ -5720,33 +5698,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-side", + "camera_label": "side", "episode_id": "ep_0245", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "failure_description": "Knocked over rod and grasp went OOD.", + "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Failure", "poster": "posters/ep_0245.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0245.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0246", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5755,7 +5733,7 @@ "No failure category" ], "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0246.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -5778,34 +5756,30 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0247.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0247.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "", + "additional_notes": "The video shows a completely static scene with no robot motion, indicating the task was never started.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0248", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-grasp_failure__at_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Grasp failure (at contact)", - "Sequencing or semantic failure" + "Task not attempted" ], - "failure_description": "couldnt align grippers for the grasp, wrong cup", - "info": "put the purple mug in the basket

exterior / Failure", + "failure_description": "The robot arms do not move throughout the entire video.", + "info": "rotate box 90 degrees

top / Failure", "poster": "posters/ep_0248.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -5815,25 +5789,23 @@ "task_label": "Failure" }, { - "additional_notes": "The robot targeted the wrong object (the blue bowl) and never attempted to manipulate the silver objects as commanded.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0249", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "The robot moves its left arm toward the blue bowl instead of interacting with the silver objects on the right, failing to complete the instruction.", - "info": "take the silver cup out of the silver plate onto the table

top / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0249.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0249.mp4", "success": 0.0, "task_id": "task-failure", @@ -5841,47 +5813,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0250", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "Robot mistakenly grasped both the peg and the peghole", - "info": "pick up the blue peg and insert it into the green peghole

front / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0250.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0250.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot successfully reaches the box but does not acquire or remove the target objects.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0251", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)" + "Reaching failure (pre contact)" ], - "failure_description": "The left arm moves to the pink box but fails to grasp or remove any of the stuffed toys.", - "info": "remove all the stuffed toys from the pink box

left / Failure", + "failure_description": "Did not reach the button but went away from it.", + "info": "push the button

wrist / Failure", "poster": "posters/ep_0251.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0251.mp4", "success": 0.0, "task_id": "task-failure", @@ -5889,48 +5859,71 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", "episode_id": "ep_0252", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

left_wrist / Failure", + "failure_description": "", + "info": "pick up the cube

wrist_image_left / Success", "poster": "posters/ep_0252.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0252.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0253", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", + "poster": "posters/ep_0253.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0253.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot failed to pick up the container and never attempted to place it on the other container, leaving the task uncompleted.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", - "episode_id": "ep_0253", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", + "episode_id": "ep_0254", "failure_category_ids": [ "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ "Grasp failure (at contact)", - "Manipulation failure (post contact)" + "Sequencing or semantic failure" ], - "failure_description": "The robot's left arm failed to secure a grasp on the top container, knocking it over and subsequently pulling the towel underneath it.", - "info": "stack the two containers on top of each other

right / Failure", - "poster": "posters/ep_0253.jpg", + "failure_description": "failed to grasp banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "poster": "posters/ep_0254.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0253.mp4", + "src": "videos/ep_0254.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -5939,9 +5932,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", - "episode_id": "ep_0254", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", + "episode_id": "ep_0255", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -5949,33 +5942,10 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the purple eggplant and put it into the bowl

right_base_cam / Success", - "poster": "posters/ep_0254.jpg", + "info": "Stack the green block on top of the blue one

wrist_cam / Failure", + "poster": "posters/ep_0255.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0254.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" - }, - { - "additional_notes": "The video shows no movement from either of the robot arms, indicating that the task was not attempted.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", - "episode_id": "ep_0255", - "failure_category_ids": [ - "failure_category-task_not_attempted" - ], - "failure_category_labels": [ - "Task not attempted" - ], - "failure_description": "The robot arms remain completely stationary throughout the entire video and make no attempt to execute the task.", - "info": "find the tweezer and place it on the towel

right / Failure", - "poster": "posters/ep_0255.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0255.mp4", "success": 0.0, "task_id": "task-failure", @@ -5985,8 +5955,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0256", "failure_category_ids": [ "failure_category-no_failure_category" @@ -5995,7 +5965,7 @@ "No failure category" ], "failure_description": "", - "info": "put the bowl on the table

left / Success", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Success", "poster": "posters/ep_0256.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6006,22 +5976,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-zed", - "camera_label": "zed", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0257", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

zed / Failure", + "failure_description": "", + "info": "Pick up the plastic eggplant and put it into the blue container

right_base_cam / Failure", "poster": "posters/ep_0257.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0257.mp4", "success": 0.0, "task_id": "task-failure", @@ -6041,7 +6011,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0258.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6052,45 +6022,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", - "episode_id": "ep_0259", - "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0259", + "failure_category_ids": [ + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The second cup tripper over the existing stack, resulting in the third cup cannot stack on top of them", - "info": "stack the cups

left_wrist / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0259.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0259.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "No movement was observed from either of the robot arms, meaning the commanded task to unravel the banana plug was not initiated.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0260", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remained entirely stationary throughout the rollout and did not attempt the task.", - "info": "unravel the bananda plug

top / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0260.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0260.mp4", "success": 0.0, "task_id": "task-failure", @@ -6098,22 +6068,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0261", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "failure_description": "picked up the bowl but did not place it on the table.", + "info": "put the bowl on the table

wrist / Failure", "poster": "posters/ep_0261.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0261.mp4", "success": 0.0, "task_id": "task-failure", @@ -6133,44 +6103,44 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0262.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0262.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "The robot completely failed to execute any reaching or manipulation motions toward the target objects, leaving the task unattempted.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0263", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms move slightly at their home positions but make no attempt to approach the bowl or grab the soda.", - "info": "take the soda from the bowl and put in pink box

top / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0263.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0263.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0264", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6179,7 +6149,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Success", + "info": "Stack the green rectangle on top of the yellow block

left_base_cam / Success", "poster": "posters/ep_0264.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6190,22 +6160,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0265", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "Stack the yellow block on top of the green block

right_base_cam / Failure", + "failure_description": "failed to grasp the scoop with multiple attempt", + "info": "pick up the scoop from the sand

exterior / Failure", "poster": "posters/ep_0265.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0265.mp4", "success": 0.0, "task_id": "task-failure", @@ -6225,7 +6195,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0266.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6236,42 +6206,48 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0267", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure", + "failure_category-collision_failure" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Manipulation failure (post contact)", + "Sequencing or semantic failure", + "Collision failure" ], - "failure_description": "", - "info": "carbon fiber layup on concave surface

camera_0 / Success", + "failure_description": "collided with plate and dropped hammer then reached for the wrong object", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", "poster": "posters/ep_0267.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0267.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0268", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "Manipulation failure (post contact)" ], - "failure_description": "The robot fails to grasp the spoon multiple times.", - "info": "Pick up the spoon and place it in the sink.

right / Failure", + "failure_description": "Robot failed to bring peg to peghole, then dropped it out of its view", + "info": "pick up the blue peg and insert it into the green peghole

front / Failure", "poster": "posters/ep_0268.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -6282,22 +6258,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0269", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0269.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0269.mp4", "success": 0.0, "task_id": "task-failure", @@ -6305,68 +6281,68 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0270", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "failure_description": "still black marks remaining", + "info": "wipe the black marks

wrist / Failure", "poster": "posters/ep_0270.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0270.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "Throughout the video, there is no movement from the robot manipulators. The folded towel is left untouched.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0271", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remained completely stationary and did not attempt to perform the commanded task.", - "info": "take the folded towel from the cup and spread it on the table

right / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0271.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0271.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "additional_notes": "The robot fails to perform the requested task as it never attempts to interact with the objects.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0272", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "failure_description": "The robot arms move around but do not make any attempt to grasp or remove the small box from the big pink box.", + "info": "take the small box out of the big pink box

top / Failure", "poster": "posters/ep_0272.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0272.mp4", "success": 0.0, "task_id": "task-failure", @@ -6386,21 +6362,21 @@ "No failure category" ], "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0273.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0273.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0274", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6409,7 +6385,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0274.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6432,21 +6408,21 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0275.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0275.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0276", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6455,33 +6431,33 @@ "No failure category" ], "failure_description": "", - "info": "put the purple mug in the basket

wrist / Success", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0276.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0276.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "The robot does not complete the task of putting the yellow stuffed toy into the cup as it barely begins moving before the video concludes.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0277", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms enter the workspace but the video ends before any attempt to grasp or manipulate the objects is made.", - "info": "find the yellow stuffed toy and put it in the cup

top / Failure", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0277.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0277.mp4", "success": 0.0, "task_id": "task-failure", @@ -6501,56 +6477,58 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0278.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0278.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0279", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact", + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)", + "Task not attempted" ], - "failure_description": "", - "info": "Remove the brown kiwi fruit from the pink bowl

wrist_cam / Success", + "failure_description": "stopped moving after grasping the eraser", + "info": "wipe the orange marks

wrist / Failure", "poster": "posters/ep_0279.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0279.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0280", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0280.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0280.mp4", "success": 0.0, "task_id": "task-failure", @@ -6570,30 +6548,30 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0281.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0281.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-overhead", - "camera_label": "overhead", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0282", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "Grasp failure (at contact)" ], - "failure_description": "Robot fails to reach the stapler and press it.", - "info": "press the stapler

overhead / Failure", + "failure_description": "tried grasping the ice cream cone instead of the sushi but ended up failing since it tried grasping at the very corner. This resulted in the cone sliding to the corner of the workspace.", + "info": "put the sushi in the pot

left / Failure", "poster": "posters/ep_0282.jpg", "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", @@ -6606,8 +6584,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0283", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6616,7 +6594,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", "poster": "posters/ep_0283.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6629,8 +6607,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0284", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6639,21 +6617,21 @@ "No failure category" ], "failure_description": "", - "info": "Put the kiwi fruit into the blue bowl

right_base_cam / Failure", + "info": "put the bowl on the table

wrist / Success", "poster": "posters/ep_0284.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0284.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0285", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6662,7 +6640,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the yellow plastic object towards the center of the table

left_base_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0285.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6675,8 +6653,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0286", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6685,33 +6663,33 @@ "No failure category" ], "failure_description": "", - "info": "drop dye into one of the cups

wrist / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0286.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0286.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0287", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "didn't go over bump", - "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0287.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0287.mp4", "success": 0.0, "task_id": "task-failure", @@ -6721,8 +6699,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0288", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6731,53 +6709,53 @@ "No failure category" ], "failure_description": "", - "info": "Remove the green object from the bowl

left_base_cam / Success", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0288.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0288.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "The robot arms stopped moving before contacting the bowl, leaving the bowl upright and untouched.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0289", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "The robot moves its arms but stops before making any contact with the bowl, failing to execute the required manipulation.", - "info": "flip the bowl upside down

right / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0289.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0289.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-aria", - "camera_label": "aria", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0290", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Sequencing or semantic failure" ], - "failure_description": "Robot fails to lift the bag, and the bag falls back.", - "info": "pack three grocery objects into a seven eleven bag

aria / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0290.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -6788,24 +6766,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0291", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "One bowl was not stacked correctly onto the middle bowl by right arm.", - "info": "Stack all the bowls on the table into the middle bowl.

right_wrist / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0291.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0291.mp4", "success": 0.0, "task_id": "task-failure", @@ -6813,22 +6789,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0292", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "did not reach the bowl and started moving away - only at the very end of the episode did it start reaching the bowl.", - "info": "put the bowl on the table

left / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0292.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0292.mp4", "success": 0.0, "task_id": "task-failure", @@ -6836,22 +6812,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0293", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "Grasping failure (bad aiming)", - "info": "pick up the cube

wrist_image_left / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0293.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0293.mp4", "success": 0.0, "task_id": "task-failure", @@ -6861,8 +6837,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0294", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6871,14 +6847,14 @@ "No failure category" ], "failure_description": "", - "info": "Stack the blue block on top of the green block

left_base_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0294.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0294.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -6894,7 +6870,7 @@ "No failure category" ], "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0295.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -6917,21 +6893,21 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0296.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0296.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0297", "failure_category_ids": [ "failure_category-no_failure_category" @@ -6940,33 +6916,33 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the teal block and stack it onto the red square

right_base_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0297.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0297.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0298", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Robot fails to push the cable tightly into the cable holder", - "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0298.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0298.mp4", "success": 0.0, "task_id": "task-failure", @@ -6974,22 +6950,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0299", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "failure_description": "Tried grasping the bowl and failed.", + "info": "put the bowl on the table

wrist / Failure", "poster": "posters/ep_0299.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0299.mp4", "success": 0.0, "task_id": "task-failure", @@ -6999,8 +6975,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0300", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7009,33 +6985,33 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0300.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0300.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "The robot arms start to move towards the bowls at the end of the video, but no manipulation occurs. The final state shows the green bowl empty.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0301", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Task not attempted" + "Sequencing or semantic failure" ], - "failure_description": "The video ends before the robot attempts to grasp or move any objects.", - "info": "put all the fruits and veggies into the green bowl

right / Failure", + "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0301.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0301.mp4", "success": 0.0, "task_id": "task-failure", @@ -7045,19 +7021,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0302", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-collision_failure" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Collision failure" + "Manipulation failure (post contact)" ], - "failure_description": "Robot fails to grasp the cable and also hits its wrist camera against the white block", - "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", + "failure_description": "knife fell out of the bowl", + "info": "place the knife in the bowl

left / Failure", "poster": "posters/ep_0302.jpg", "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", @@ -7068,22 +7042,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0303", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "pick up the corn

right_shoulder_cam / Failure", + "failure_description": "picked up the ice cream instead of the sushi and put it in the pot.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0303.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0303.mp4", "success": 0.0, "task_id": "task-failure", @@ -7093,8 +7067,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0304", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7103,33 +7077,33 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "pull out the block sticking out

front / Success", "poster": "posters/ep_0304.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0304.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "The video shows no robot movement whatsoever; the arms stay in their initial pose for the duration of the clip.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0305", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remain completely stationary and make no movement to execute the commanded task.", - "info": "take the folded towel from the cup and spread it on the table

top / Failure", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0305.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0305.mp4", "success": 0.0, "task_id": "task-failure", @@ -7139,8 +7113,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0306", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7149,14 +7123,14 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "Put the potato into the bowl

left_base_cam / Success", "poster": "posters/ep_0306.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0306.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -7172,7 +7146,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0307.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7183,26 +7157,26 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-side", - "camera_label": "side", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0308", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Success", + "failure_description": "Failed to grasp correct object", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0308.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0308.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -7229,33 +7203,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0310", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The second blune bowl was not stacked correctly onto the middle bowl afetr retry.", - "info": "Stack all the bowls on the table into the middle bowl.

left_wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", "poster": "posters/ep_0310.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0310.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", "episode_id": "ep_0311", "failure_category_ids": [ "failure_category-grasp_failure__at_contact" @@ -7263,8 +7237,8 @@ "failure_category_labels": [ "Grasp failure (at contact)" ], - "failure_description": "Robot fails to grasp the cable", - "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. Subsequent grasping attempts also failed as the robot did not attempt to realign its end-effector.", + "info": "pick up the red block and put it in the bowl

cam_4_wrist / Failure", "poster": "posters/ep_0311.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -7275,33 +7249,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0312", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot drops the spoon next to the utensil holder.", - "info": "Pick up the spoon and place it in the utensil holder.

right / Failure", + "failure_description": "", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Success", "poster": "posters/ep_0312.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0312.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0313", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7310,7 +7284,7 @@ "No failure category" ], "failure_description": "", - "info": "Put the red plastic fruit into the bowl

right_base_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0313.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7333,33 +7307,33 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0314.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0314.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0315", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Misalignment happened in two of the stacking attempts, and the cup was released from too high so it didn't stack, and tripped over.", - "info": "stack the cups

head / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0315.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0315.mp4", "success": 0.0, "task_id": "task-failure", @@ -7367,22 +7341,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0316", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The second cup didn't stack on top of first cup.", - "info": "stack the cups

left_wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0316.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0316.mp4", "success": 0.0, "task_id": "task-failure", @@ -7390,22 +7364,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0317", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "failed to press the button despite going very close to it.", - "info": "push the button

left / Failure", + "failure_description": "", + "info": "Pick up the yellow triangle and put it on the red block

right_base_cam / Failure", "poster": "posters/ep_0317.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0317.mp4", "success": 0.0, "task_id": "task-failure", @@ -7425,7 +7399,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0318.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7436,22 +7410,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0319", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "failure_description": "failed to grasp banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", "poster": "posters/ep_0319.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0319.mp4", "success": 0.0, "task_id": "task-failure", @@ -7459,22 +7433,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0320", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "Robot fails to find the cable", - "info": "Push the Displayport cable into the cable holder on the white block

top / Failure", + "failure_description": "", + "info": "Stack the small pink block on top of the green block

right_base_cam / Failure", "poster": "posters/ep_0320.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0320.mp4", "success": 0.0, "task_id": "task-failure", @@ -7482,22 +7456,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0321", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "tried picking the bowl multiple times but failed.", - "info": "put the bowl on the table

wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0321.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0321.mp4", "success": 0.0, "task_id": "task-failure", @@ -7507,8 +7481,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0322", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7517,33 +7491,33 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the toy grape and put it into the blue container

wrist_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0322.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0322.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0323", "failure_category_ids": [ - "failure_category-other" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Other" + "Manipulation failure (post contact)" ], - "failure_description": "Couldn't finish on time because the robot took forever to pick up the green cloth", - "info": "cover the white bowl with the cloth

right / Failure", + "failure_description": "knife fell off the bowl", + "info": "place the knife in the bowl

wrist / Failure", "poster": "posters/ep_0323.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0323.mp4", "success": 0.0, "task_id": "task-failure", @@ -7553,8 +7527,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0324", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7563,7 +7537,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0324.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7574,22 +7548,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0325", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "failure_description": "has to go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0325.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0325.mp4", "success": 0.0, "task_id": "task-failure", @@ -7609,7 +7583,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", "poster": "posters/ep_0326.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7620,22 +7594,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist_cam", + "camera_label": "wrist_cam", "episode_id": "ep_0327", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked up the ice cream cone and placed it in the pot.", - "info": "put the sushi in the pot

left / Failure", + "failure_description": "", + "info": "Pick up the green block and put it on top of the blue rectangle

wrist_cam / Failure", "poster": "posters/ep_0327.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0327.mp4", "success": 0.0, "task_id": "task-failure", @@ -7643,22 +7617,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0328", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "the robot grasps the bowl such that one MnM package gets stuck, causing it to not be poured into the bowl", - "info": "Pour a bowl of M&Ms into a bowl of skittles

left_wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0328.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0328.mp4", "success": 0.0, "task_id": "task-failure", @@ -7666,33 +7640,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0329", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picked the ice cream instead of the sushi and put it in the pot.", - "info": "put the sushi in the pot

left / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0329.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0329.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0330", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7701,21 +7675,21 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the red bowl and place it in the grey bowl.

right / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0330.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0330.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0331", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7724,7 +7698,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the red block and place it in the bowl.

wrist / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0331.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7737,8 +7711,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0332", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7747,32 +7721,30 @@ "No failure category" ], "failure_description": "", - "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0332.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0332.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0333", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-other" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Other" + "Manipulation failure (post contact)" ], - "failure_description": "Struggled to pick up banana and timed out", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "spilled the beans on the table", + "info": "pour the coffee beans into the cup

right / Failure", "poster": "posters/ep_0333.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -7783,22 +7755,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-tactile", + "camera_label": "tactile", "episode_id": "ep_0334", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "failure_description": "the robot could not insert the peg", + "info": "insert the purple peg into a hole

tactile / Failure", "poster": "posters/ep_0334.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0334.mp4", "success": 0.0, "task_id": "task-failure", @@ -7806,22 +7778,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0335", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "picked up the ice cream and put it in the orange bowl.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0335.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0335.mp4", "success": 0.0, "task_id": "task-failure", @@ -7831,8 +7803,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0336", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7841,7 +7813,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0336.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7852,22 +7824,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-exterior", + "camera_label": "exterior", "episode_id": "ep_0337", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "failure_description": "failed to grasp the scoop with multiple attempt", + "info": "pick up the scoop from the sand

exterior / Failure", "poster": "posters/ep_0337.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0337.mp4", "success": 0.0, "task_id": "task-failure", @@ -7877,8 +7849,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0338", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7887,14 +7859,14 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0338.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0338.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -7910,7 +7882,7 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0339.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7921,22 +7893,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0340", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "failure_description": "picked up the ice cream cone and put it in the orange bowl.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0340.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0340.mp4", "success": 0.0, "task_id": "task-failure", @@ -7946,8 +7918,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0341", "failure_category_ids": [ "failure_category-no_failure_category" @@ -7956,7 +7928,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "Pick green block and place on cardboard

exterior_cam / Failure", "poster": "posters/ep_0341.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -7967,33 +7939,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0342", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "wrong cup", - "info": "put the purple mug in the basket

wrist / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0342.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0342.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0343", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8002,33 +7974,35 @@ "No failure category" ], "failure_description": "", - "info": "Remove the orange from the bowl

wrist_cam / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0343.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0343.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "camera_id": "camera-cam_2_scene", + "camera_label": "cam_2_scene", "episode_id": "ep_0344", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)", + "Collision failure" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

head / Failure", + "failure_description": "The robot's initial grasping motion caused the gripper to get caught on the red block. The following downward push caused the red block to pop out and away, and the robot slammed into the work table, triggering force thresholds.", + "info": "pick up the red block and place it in the bowl

cam_2_scene / Failure", "poster": "posters/ep_0344.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0344.mp4", "success": 0.0, "task_id": "task-failure", @@ -8036,26 +8010,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0345", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)", - "Collision failure" + "No failure category" ], - "failure_description": "The robot fails to grasp the red bowl several times. After grasping it successfully, the robot doesn't lift it high enough and ends up pushing the grey bowl away.", - "info": "Pick up the red bowl and place it in the grey bowl.

right / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0345.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0345.mp4", "success": 0.0, "task_id": "task-failure", @@ -8065,17 +8035,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0346", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Sequencing or semantic failure" ], - "failure_description": "spilled the beans on the table", - "info": "pour the coffee beans into the cup

left / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0346.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -8088,8 +8058,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0347", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8098,32 +8068,30 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "Pick up the blue bowl and bring it towards the center of the table

right_base_cam / Success", "poster": "posters/ep_0347.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0347.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "The robot's arm moved in a direction completely unrelated to the task objects, failing to make any progress towards grasping the red block.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0348", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-task_not_attempted" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Task not attempted" + "Grasp failure (at contact)" ], - "failure_description": "The robot arm moved upwards and away from the objects without attempting to reach or grasp the red block.", - "info": "align the red object with the top left corner of the box

right / Failure", + "failure_description": "The robot tried pick the bowl up but ended up failing multiple times.", + "info": "put the bowl on the table

wrist / Failure", "poster": "posters/ep_0348.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -8134,22 +8102,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0349", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "Reaching failure", - "info": "pick up the cube

wrist_image_left / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0349.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0349.mp4", "success": 0.0, "task_id": "task-failure", @@ -8157,33 +8125,35 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", "episode_id": "ep_0350", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Collision failure" ], - "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "failure_description": "The robot's initial grasping attempt was slightly off-position, causing the gripper to collide with the top of the red block. Upon lowering the arm, the red block slipped slightly away. Subsequent grasping attempts did not realign the gripper first before grasping, resulting in further failures.", + "info": "pick up the red block and put it in the bowl

cam_4_wrist / Failure", "poster": "posters/ep_0350.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0350.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0351", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8192,44 +8162,44 @@ "No failure category" ], "failure_description": "", - "info": "Remove the yellow object from the blue container

left_base_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0351.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0351.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0352", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "failure_description": "picked up the ice cream cone and put it in the bowl.", + "info": "put the sushi in the pot

left / Failure", "poster": "posters/ep_0352.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0352.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0353", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8238,33 +8208,35 @@ "No failure category" ], "failure_description": "", - "info": "pick up banana from pot and put in bowl

left / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0353.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0353.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0354", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-reaching_failure__pre_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Reaching failure (pre contact)", + "Collision failure" ], - "failure_description": "Third cup didn't stack on top of the existiing stack.", - "info": "stack the cups

head / Failure", + "failure_description": "The robot never gets close enough to the red bowl to grasp it, possibly because of a collision with the cabinets above.", + "info": "Pick up the red bowl and place it in the grey bowl.

wrist / Failure", "poster": "posters/ep_0354.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0354.mp4", "success": 0.0, "task_id": "task-failure", @@ -8272,33 +8244,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0355", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "Remove the red object from the bowl

left_base_cam / Success", + "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0355.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0355.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-exterior_cam", + "camera_label": "exterior_cam", "episode_id": "ep_0356", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8307,7 +8279,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", "poster": "posters/ep_0356.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8343,8 +8315,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-left_base_cam", + "camera_label": "left_base_cam", "episode_id": "ep_0358", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8353,7 +8325,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "Pick up the plastic ice-cream and put it into the pink bowl

left_base_cam / Failure", "poster": "posters/ep_0358.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8399,7 +8371,7 @@ "No failure category" ], "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0360.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8412,8 +8384,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0361", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8422,7 +8394,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0361.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8435,8 +8407,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0362", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8445,7 +8417,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow block and put it towards the right side of the table

wrist_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0362.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8456,22 +8428,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0363", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the robot could not insert the peg", - "info": "insert the purple peg into a hole

tactile / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0363.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0363.mp4", "success": 0.0, "task_id": "task-failure", @@ -8481,8 +8453,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0364", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8491,7 +8463,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the purple object from the bowl and put it next to the yellow object

wrist_cam / Success", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", "poster": "posters/ep_0364.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8504,17 +8476,19 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0365", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-sequencing_or_semantic_failure", + "failure_category-other" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Sequencing or semantic failure", + "Other" ], - "failure_description": "didn't go over bump", - "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "failure_description": "timed out before grasping the purple mug. added yellow cup", + "info": "put the purple mug in the basket

wrist / Failure", "poster": "posters/ep_0365.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -8525,24 +8499,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0366", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Collision failure" + "No failure category" ], - "failure_description": "grasped hammer correctly but failed manipulation due to collision with the plate", - "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0366.jpg", - "severity_id": "severity-catastrophic___significant_damage_or_risk_of_damage__cannot_be_reattempted_without_repair", - "severity_label": "Catastrophic - significant damage or risk of damage, cannot be reattempted without repair", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0366.mp4", "success": 0.0, "task_id": "task-failure", @@ -8562,7 +8534,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0367.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8571,13 +8543,36 @@ "task_id": "task-success", "task_label": "Success" }, + { + "additional_notes": "", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-front", + "camera_label": "front", + "episode_id": "ep_0368", + "failure_category_ids": [ + "failure_category-reaching_failure__pre_contact" + ], + "failure_category_labels": [ + "Reaching failure (pre contact)" + ], + "failure_description": "Robot fails to find the cable", + "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", + "poster": "posters/ep_0368.jpg", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0368.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" + }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0368", + "episode_id": "ep_0369", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -8586,10 +8581,10 @@ ], "failure_description": "", "info": "put the corn on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0368.jpg", + "poster": "posters/ep_0369.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0368.mp4", + "src": "videos/ep_0369.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -8598,9 +8593,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", - "episode_id": "ep_0369", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", + "episode_id": "ep_0370", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -8608,11 +8603,11 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the red bowl and place it in the grey bowl.

wrist / Success", - "poster": "posters/ep_0369.jpg", + "info": "pick up the cube

wrist_image_left / Success", + "poster": "posters/ep_0370.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0369.mp4", + "src": "videos/ep_0370.mp4", "success": 1.0, "task_id": "task-success", "task_label": "Success" @@ -8621,77 +8616,54 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", - "episode_id": "ep_0370", + "camera_id": "camera-left_wrist", + "camera_label": "left_wrist", + "episode_id": "ep_0371", "failure_category_ids": [ "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ "Manipulation failure (post contact)" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

head / Failure", - "poster": "posters/ep_0370.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0370.mp4", + "failure_description": "third cup didn't align and stack.", + "info": "stack the cups

left_wrist / Failure", + "poster": "posters/ep_0371.jpg", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "src": "videos/ep_0371.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", - "episode_id": "ep_0371", - "failure_category_ids": [ - "failure_category-no_failure_category" - ], - "failure_category_labels": [ - "No failure category" - ], - "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Success", - "poster": "posters/ep_0371.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", - "src": "videos/ep_0371.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" - }, - { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0372", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Success", + "failure_description": "Multiple back and forth movements of the arm but did not come in contact with the button.", + "info": "push the button

wrist / Failure", "poster": "posters/ep_0372.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0372.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0373", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8700,7 +8672,7 @@ "No failure category" ], "failure_description": "", - "info": "Remove the plastic toys from the bowl

right_base_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0373.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8711,26 +8683,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-side", - "camera_label": "side", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0374", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure", - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure", - "Collision failure" + "No failure category" ], - "failure_description": "Grasped but got agressive then bad IK and camera mount risk so stopped it. -rosario", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0374.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0374.mp4", "success": 0.0, "task_id": "task-failure", @@ -8740,8 +8708,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_cam", - "camera_label": "wrist_cam", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0375", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8750,7 +8718,7 @@ "No failure category" ], "failure_description": "", - "info": "Remove the orange toy from the blue bowl

wrist_cam / Failure", + "info": "Pick up the green bell pepper from the pink bowl and put it on the table

right_base_cam / Failure", "poster": "posters/ep_0375.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8763,17 +8731,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0376", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)" ], - "failure_description": "One yellow bowl was not stacked correctly onto the middle bowl.", - "info": "Stack all the bowls on the table into the middle bowl.

right_wrist / Failure", + "failure_description": "failed to grab the dropper", + "info": "drop dye into one of the cups

front / Failure", "poster": "posters/ep_0376.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -8784,45 +8752,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_image_1_left", - "camera_label": "exterior_image_1_left", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_2_scene", + "camera_label": "cam_2_scene", "episode_id": "ep_0377", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "pick up the cube

exterior_image_1_left / Success", + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. The robot made no subsequent attempts at grasping the red block.", + "info": "pick up the red block and put it in the bowl

cam_2_scene / Failure", "poster": "posters/ep_0377.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0377.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0378", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Failure", + "failure_description": "knife bounced out of the bowl", + "info": "place the knife in the bowl

left / Failure", "poster": "posters/ep_0378.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0378.mp4", "success": 0.0, "task_id": "task-failure", @@ -8830,22 +8798,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0379", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "didn't go over bump", - "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", "poster": "posters/ep_0379.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0379.mp4", "success": 0.0, "task_id": "task-failure", @@ -8855,8 +8823,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0380", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8865,7 +8833,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0380.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8875,23 +8843,23 @@ "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "additional_notes": "The robot did not execute any motion to cover the pink box with the towel.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0381", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Failure", + "failure_description": "The robot arms remain entirely stationary throughout the video and do not move towards the objects.", + "info": "cover the big pink box with the towel

left / Failure", "poster": "posters/ep_0381.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0381.mp4", "success": 0.0, "task_id": "task-failure", @@ -8901,8 +8869,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0382", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8911,7 +8879,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0382.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8921,23 +8889,23 @@ "task_label": "Failure" }, { - "additional_notes": "Throughout the video, neither robotic arm makes any movement, failing to execute the commanded task.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0383", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remained completely stationary and did not attempt the task.", - "info": "tie the banana plug around the two screw drivers

right / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0383.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0383.mp4", "success": 0.0, "task_id": "task-failure", @@ -8945,22 +8913,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0384", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "failure_description": "Reaching failure", + "info": "pick up the cube

exterior_image_1_left / Failure", "poster": "posters/ep_0384.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0384.mp4", "success": 0.0, "task_id": "task-failure", @@ -8970,8 +8938,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0385", "failure_category_ids": [ "failure_category-no_failure_category" @@ -8980,7 +8948,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0385.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -8990,34 +8958,34 @@ "task_label": "Failure" }, { - "additional_notes": "The robot successfully reaches and grasps the cord, but during the manipulation phase, it drops the cord before successfully untangling the loops.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0386", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot arms attempt to pull the cord apart, but the left gripper drops the cord and fails to untangle it.", - "info": "untangle the cord

right / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0386.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0386.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0387", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9026,7 +8994,7 @@ "No failure category" ], "failure_description": "", - "info": "Remove the yellow object from the bowl

right_base_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0387.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9036,23 +9004,23 @@ "task_label": "Failure" }, { - "additional_notes": "No motion is observed from either arm; the robot simply does not execute any actions to begin the untangling task.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0388", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remain completely stationary throughout the entire video and make no attempt to interact with the objects.", - "info": "untangle the black and red wires

right / Failure", + "failure_description": "", + "info": "pull out the block sticking out

wrist / Failure", "poster": "posters/ep_0388.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0388.mp4", "success": 0.0, "task_id": "task-failure", @@ -9062,8 +9030,8 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-zed", - "camera_label": "zed", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0389", "failure_category_ids": [ "failure_category-manipulation_failure__post_contact" @@ -9071,11 +9039,11 @@ "failure_category_labels": [ "Manipulation failure (post contact)" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

zed / Failure", + "failure_description": "the robot could not insert the peg", + "info": "insert the purple peg into a hole

front / Failure", "poster": "posters/ep_0389.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0389.mp4", "success": 0.0, "task_id": "task-failure", @@ -9085,8 +9053,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0390", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9095,7 +9063,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the eggplant and put it into the blue bowl

left_base_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0390.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9106,22 +9074,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", "episode_id": "ep_0391", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "failure_description": "Reaching failure", + "info": "pick up the cube

wrist_image_left / Failure", "poster": "posters/ep_0391.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0391.mp4", "success": 0.0, "task_id": "task-failure", @@ -9141,7 +9109,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0392.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9154,17 +9122,19 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0393", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-sequencing_or_semantic_failure", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Sequencing or semantic failure", + "Collision failure" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "picked up the ice cream cone and tried placing it in the orange bowl but failed to do so.", + "info": "put the sushi in the pot

left / Failure", "poster": "posters/ep_0393.jpg", "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", @@ -9174,46 +9144,46 @@ "task_label": "Failure" }, { - "additional_notes": "The robot fails to perform the task as it does not approach or attempt to grasp the bowl, leaving it in its initial state.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0394", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms barely move and make no attempt to reach for or interact with the bowl.", - "info": "flip the bowl upside down

right / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0394.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0394.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0395", "failure_category_ids": [ - "failure_category-collision_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Collision failure" + "No failure category" ], - "failure_description": "Collided with the obstacle", - "info": "put the pineapple in the purple bowl

left / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0395.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0395.mp4", "success": 0.0, "task_id": "task-failure", @@ -9223,8 +9193,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0396", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9233,7 +9203,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0396.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9256,7 +9226,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0397.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9267,22 +9237,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0398", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "picks up the cube instead of the sushi and proceeds to put it in the pot.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0398.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0398.mp4", "success": 0.0, "task_id": "task-failure", @@ -9296,18 +9266,16 @@ "camera_label": "wrist", "episode_id": "ep_0399", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "Manipulation failure (post contact)" ], - "failure_description": "Amazing attempt with regrasps, but got stuck near hole and bound up. -rosario", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

wrist / Failure", + "failure_description": "knife fell out of the bowl", + "info": "place the knife in the bowl

wrist / Failure", "poster": "posters/ep_0399.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0399.mp4", "success": 0.0, "task_id": "task-failure", @@ -9315,22 +9283,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0400", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The mug was picked up but not aligned with the mug tree, so it was not hung.", - "info": "pick up the cup on the table, and hang it on the mug tree.

right_wrist / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0400.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0400.mp4", "success": 0.0, "task_id": "task-failure", @@ -9350,7 +9318,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0401.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9363,8 +9331,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_base_cam", + "camera_label": "right_base_cam", "episode_id": "ep_0402", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9373,7 +9341,7 @@ "No failure category" ], "failure_description": "", - "info": "Place the green rectangular block next to the yellow block

left_base_cam / Success", + "info": "Pick up the pink bowl and put it next to the red fruit

right_base_cam / Success", "poster": "posters/ep_0402.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9384,22 +9352,24 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_3_wrist", + "camera_label": "cam_3_wrist", "episode_id": "ep_0403", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Manipulation failure (post contact)" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "After correctly grasping the red block, the robot failed to center itself over the bowl before dropping it, causing the red block to bounce off the bowl's rim. Subsequent attempts at recovering the red block failed, as the robot did not align the gripped properly before grasping.", + "info": "pick up the red block and place it in the bowl

cam_3_wrist / Failure", "poster": "posters/ep_0403.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0403.mp4", "success": 0.0, "task_id": "task-failure", @@ -9419,37 +9389,37 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0404.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0404.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0405", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "Put the pineapple in the bowl first (without being told to do so)", - "info": "put the duck in the bowl

left / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0405.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0405.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -9465,44 +9435,44 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0406.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0406.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", "episode_id": "ep_0407", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "Pick up the spoon and place it in the sink.

wrist / Success", + "failure_description": "the reach is not accurate", + "info": "pick up the cube

wrist_image_left / Failure", "poster": "posters/ep_0407.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0407.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0408", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9511,7 +9481,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "close the drawer

right_shoulder_cam / Failure", "poster": "posters/ep_0408.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9524,22 +9494,20 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-cam_4_wrist", - "camera_label": "cam_4_wrist", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0409", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-collision_failure" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Collision failure" + "Sequencing or semantic failure" ], - "failure_description": "The robot's grasping position was wrong, causing part of the gripper to catch on the red block before the gripper was fully descended. Subsequent attempts at grasping and fixing alignment caused the arm to collide with the block, pushing into the table; consequently, the operator was forced to end the episode early to prevent damage.", - "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", + "failure_description": "has to go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0409.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0409.mp4", "success": 0.0, "task_id": "task-failure", @@ -9547,33 +9515,33 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0410", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "Robot reaches the object instead of lifting the bag first.", - "info": "pack three grocery objects into a seven eleven bag

right_wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0410.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0410.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-wrist_image_left", - "camera_label": "wrist_image_left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0411", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9582,60 +9550,60 @@ "No failure category" ], "failure_description": "", - "info": "pick up the cube

wrist_image_left / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0411.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0411.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0412", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "One bowl was not stacked correctly onto the middle bowl.", - "info": "Stack all the bowls on the table into the middle bowl.

right_wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0412.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0412.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0413", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "Robot was unable to find the peg", - "info": "pick up the blue peg and insert it into the green peghole

wrist / Failure", + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", "poster": "posters/ep_0413.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0413.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -9651,7 +9619,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0414.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9662,22 +9630,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", "episode_id": "ep_0415", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. Subsequent grasping attempts also failed as the robot did not attempt to realign its end-effector.", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", "poster": "posters/ep_0415.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0415.mp4", "success": 0.0, "task_id": "task-failure", @@ -9685,24 +9653,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0416", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "Pick up wrong object (green block, not cube) and then puts it in bowl without rotating it.", - "info": "pick up cube and rotate it and put in bowl

right / Failure", + "failure_description": "", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0416.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0416.mp4", "success": 0.0, "task_id": "task-failure", @@ -9712,8 +9678,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0417", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9722,7 +9688,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the green cup and stack it on the purple

right_wrist / Success", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0417.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9732,23 +9698,23 @@ "task_label": "Success" }, { - "additional_notes": "The robot did not move from its initial position, resulting in a failure to perform the commanded task.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0418", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms remained completely stationary throughout the video and made no attempt to execute the task.", - "info": "put all the fruits and veggies into the green bowl

top / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0418.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0418.mp4", "success": 0.0, "task_id": "task-failure", @@ -9758,44 +9724,44 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-front", - "camera_label": "front", + "camera_id": "camera-left", + "camera_label": "left", "episode_id": "ep_0419", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact" + "failure_category-manipulation_failure__post_contact", + "failure_category-sequencing_or_semantic_failure", + "failure_category-collision_failure" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Grasp failure (at contact)", - "Manipulation failure (post contact)" + "Manipulation failure (post contact)", + "Sequencing or semantic failure", + "Collision failure" ], - "failure_description": "Various failures: fails to grasp, and sometimes drops cable", - "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", + "failure_description": "bumps the ice cream to the side but approaches sushi after a while and tires to place it in the orangish bowl instead of the pot. In the process of doing so, it bumps into the metal rack.", + "info": "put the sushi in the pot

left / Failure", "poster": "posters/ep_0419.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0419.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot fails to unstack the bowls because it never makes contact with them, stopping its motion before reaching the objects.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "camera_id": "camera-tactile", + "camera_label": "tactile", "episode_id": "ep_0420", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "Manipulation failure (post contact)" ], - "failure_description": "The robot arms move slightly but fail to reach the bowls or attempt the unstacking task.", - "info": "unstack the bowls

top / Failure", + "failure_description": "still black marks remaining", + "info": "wipe the black marks

tactile / Failure", "poster": "posters/ep_0420.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -9806,22 +9772,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0421", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", + "failure_description": "", "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0421.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0421.mp4", "success": 0.0, "task_id": "task-failure", @@ -9831,8 +9797,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0422", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9841,7 +9807,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0422.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9854,8 +9820,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0423", "failure_category_ids": [ "failure_category-no_failure_category" @@ -9864,7 +9830,7 @@ "No failure category" ], "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0423.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -9873,36 +9839,13 @@ "task_id": "task-failure", "task_label": "Failure" }, - { - "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left_wrist", - "camera_label": "left_wrist", - "episode_id": "ep_0424", - "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" - ], - "failure_category_labels": [ - "Manipulation failure (post contact)" - ], - "failure_description": "Arm mistakenly do not catch the green bowl.", - "info": "Stack all the bowls on the table into the middle bowl.

left_wrist / Failure", - "poster": "posters/ep_0424.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0424.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0425", + "episode_id": "ep_0424", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -9910,57 +9853,61 @@ "No failure category" ], "failure_description": "", - "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0425.jpg", + "info": "close the drawer

right_shoulder_cam / Failure", + "poster": "posters/ep_0424.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0425.mp4", + "src": "videos/ep_0424.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The video shows no movement from the robot, so the folded towel remains untouched.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", - "episode_id": "ep_0426", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", + "episode_id": "ep_0425", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "Task not attempted" + "Reaching failure (pre contact)" ], - "failure_description": "The robot arms remain completely stationary throughout the entire video and make no attempt to execute the task.", - "info": "spread the folded towel on the table

left / Failure", - "poster": "posters/ep_0426.jpg", + "failure_description": "the reach is not accurate", + "info": "pick up the cube

wrist_image_left / Failure", + "poster": "posters/ep_0425.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0426.mp4", + "src": "videos/ep_0425.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot attempted to pick up the tape measure but the gripper did not secure the object, leaving it on the table.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", - "episode_id": "ep_0427", + "camera_id": "camera-wrist", + "camera_label": "wrist", + "episode_id": "ep_0426", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-reaching_failure__pre_contact", + "failure_category-grasp_failure__at_contact", + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "Reaching failure (pre contact)", + "Grasp failure (at contact)", + "Manipulation failure (post contact)" ], - "failure_description": "The robot's left gripper failed to grasp the tape measure and retreated without picking it up.", - "info": "pick up the tape measure and put it in the box

left / Failure", - "poster": "posters/ep_0427.jpg", + "failure_description": "Various failures: fails to grasp, and sometimes drops cable", + "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", + "poster": "posters/ep_0426.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0427.mp4", + "src": "videos/ep_0426.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -9969,9 +9916,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", - "episode_id": "ep_0428", + "camera_id": "camera-cam_3_wrist", + "camera_label": "cam_3_wrist", + "episode_id": "ep_0427", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -9979,14 +9926,14 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", - "poster": "posters/ep_0428.jpg", + "info": "pick up the red block and place it in the bowl

cam_3_wrist / Success", + "poster": "posters/ep_0427.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0428.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "src": "videos/ep_0427.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -9994,7 +9941,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", - "episode_id": "ep_0429", + "episode_id": "ep_0428", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10003,56 +9950,58 @@ ], "failure_description": "", "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", - "poster": "posters/ep_0429.jpg", + "poster": "posters/ep_0428.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0429.mp4", + "src": "videos/ep_0428.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", - "episode_id": "ep_0430", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", + "episode_id": "ep_0429", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Collision failure" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0430.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", - "src": "videos/ep_0430.mp4", + "failure_description": "The robot's initial grasping motion caused the gripper to get caught on the red block. The robot continued attempting to move downward, but the collision kept it stuck.", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", + "poster": "posters/ep_0429.jpg", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "src": "videos/ep_0429.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The task was to take out the bottom drawer, but the robot grasped the wrong objects and performed unrelated actions, leaving the drawer in place.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", - "episode_id": "ep_0431", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", + "episode_id": "ep_0430", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Grasp failure (at contact)" ], - "failure_description": "The robot interacted with the top of the dresser and an orange bowl rather than targeting the bottom drawer.", - "info": "take out the bottom drawer out of the dresser

top / Failure", - "poster": "posters/ep_0431.jpg", + "failure_description": "failed to grasp banana", + "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "poster": "posters/ep_0430.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0431.mp4", + "src": "videos/ep_0430.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10061,9 +10010,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", - "episode_id": "ep_0432", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0431", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10071,57 +10020,57 @@ "No failure category" ], "failure_description": "", - "info": "insert the purple peg into a hole

tactile / Success", - "poster": "posters/ep_0432.jpg", + "info": "close the drawer

right_shoulder_cam / Failure", + "poster": "posters/ep_0431.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0432.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "src": "videos/ep_0431.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { - "additional_notes": "The robot does not move at all during the provided video segment, failing to initiate any part of the manipulation task.", + "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", - "episode_id": "ep_0433", + "camera_id": "camera-cam_2_scene", + "camera_label": "cam_2_scene", + "episode_id": "ep_0432", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Task not attempted" + "Grasp failure (at contact)" ], - "failure_description": "The robot arms remain completely stationary and make no attempt to execute the commanded task.", - "info": "take tape measure out of bowl and put it in bowl again

left / Failure", - "poster": "posters/ep_0433.jpg", + "failure_description": "The robot failed its initial grasp because it did not rotate to align the end-effector properly with the red block. Subsequent grasping attempts also failed as the robot did not attempt to realign its end-effector.", + "info": "pick up the red block and put it in the bowl

cam_2_scene / Failure", + "poster": "posters/ep_0432.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0433.mp4", + "src": "videos/ep_0432.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", - "episode_id": "ep_0434", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", + "episode_id": "ep_0433", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the robot could not insert the peg", - "info": "insert the purple peg into a hole

tactile / Failure", - "poster": "posters/ep_0434.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0434.mp4", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "poster": "posters/ep_0433.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0433.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10130,9 +10079,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", - "episode_id": "ep_0435", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0434", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10140,33 +10089,56 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow object and bring it towards the center of the table

right_base_cam / Success", - "poster": "posters/ep_0435.jpg", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", + "poster": "posters/ep_0434.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0435.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "src": "videos/ep_0434.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", - "episode_id": "ep_0436", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", + "episode_id": "ep_0435", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "Sequencing or semantic failure" ], - "failure_description": "Board was OOD so it could not find rod.", - "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

wrist / Failure", - "poster": "posters/ep_0436.jpg", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "poster": "posters/ep_0435.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", + "src": "videos/ep_0435.mp4", + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" + }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0436", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", + "poster": "posters/ep_0436.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0436.mp4", "success": 0.0, "task_id": "task-failure", @@ -10174,22 +10146,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-overhead", - "camera_label": "overhead", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0437", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)" + "No failure category" ], - "failure_description": "Robot does not reach cabinet, instead orients itself strangely.", - "info": "close the cabinet door

overhead / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0437.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0437.mp4", "success": 0.0, "task_id": "task-failure", @@ -10199,8 +10171,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0438", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10209,7 +10181,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0438.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -10220,22 +10192,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-camera_0", - "camera_label": "camera_0", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0439", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "didn't go over bump", - "info": "carbon fiber layup on concave surface

camera_0 / Failure", + "failure_description": "", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0439.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0439.mp4", "success": 0.0, "task_id": "task-failure", @@ -10245,21 +10217,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-cam_4_wrist", + "camera_label": "cam_4_wrist", "episode_id": "ep_0440", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-manipulation_failure__post_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "Manipulation failure (post contact)" ], - "failure_description": "Robot first picks up wrong object (pineapple) then puts it in bowl without rotating it. It then attempts to grasp cube multiple times and fails to do so - in its best attempt, cube slips out of gripper.", - "info": "pick up cube and rotate it and put in bowl

left / Failure", + "failure_description": "After grasping the red block and bringing it near the bowl, the robot failed to release the block, simply stalling.", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", "poster": "posters/ep_0440.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -10272,8 +10240,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-side", + "camera_label": "side", "episode_id": "ep_0441", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10282,33 +10250,33 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "Pick up NIST rod and insert into corresponding hole on the NIST board.

side / Success", "poster": "posters/ep_0441.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0441.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0442", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "added the yellow cup", + "info": "put the purple mug in the basket

wrist / Failure", "poster": "posters/ep_0442.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0442.mp4", "success": 0.0, "task_id": "task-failure", @@ -10316,72 +10284,72 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0443", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "Reached the button but didn't press it. A close miss.", - "info": "push the button

wrist / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0443.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0443.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "The task was not attempted as the robot arms remained stationary during the rollout.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0444", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms do not move throughout the entire video.", - "info": "stretch the cord

left / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0444.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0444.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The scene remains static as the robot fails to initiate any motion to align the cubes.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0445", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms do not move throughout the entire video, making no attempt to complete the task.", - "info": "Align each cube to a corner of the box

top / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0445.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0445.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -10397,7 +10365,7 @@ "No failure category" ], "failure_description": "", - "info": "close the drawer

right_shoulder_cam / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0446.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -10407,48 +10375,46 @@ "task_label": "Failure" }, { - "additional_notes": "The folded towel remains undisturbed on the table at the end of the video, as the robot never completed the necessary reaching or manipulation steps.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-wrist_image_left", + "camera_label": "wrist_image_left", "episode_id": "ep_0447", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms move without effectively reaching or grasping the towel, failing to perform any unfolding actions.", - "info": "spread the folded towel on the table

left / Failure", + "failure_description": "", + "info": "pick up the cube

wrist_image_left / Success", "poster": "posters/ep_0447.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0447.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { - "additional_notes": "", + "additional_notes": "The robot remains completely stationary and does not interact with the objects to perform the commanded task.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "camera_id": "camera-right", + "camera_label": "right", "episode_id": "ep_0448", "failure_category_ids": [ - "failure_category-collision_failure" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "Collision failure" + "Task not attempted" ], - "failure_description": "Collided with the obstacles", - "info": "put the pineapple in the purple bowl

wrist / Failure", + "failure_description": "The robot arms do not move throughout the video, and no attempt is made to flip the bowl.", + "info": "flip the bowl upside down

right / Failure", "poster": "posters/ep_0448.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0448.mp4", "success": 0.0, "task_id": "task-failure", @@ -10456,24 +10422,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0449", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-other" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Other" + "No failure category" ], - "failure_description": "wrong cup, then episode timed out", - "info": "put the purple mug in the basket

exterior / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0449.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0449.mp4", "success": 0.0, "task_id": "task-failure", @@ -10481,22 +10445,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0450", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "The robot fails to grasp the red bowl.", - "info": "Pick up the red bowl and place it in the grey bowl.

wrist / Failure", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0450.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0450.mp4", "success": 0.0, "task_id": "task-failure", @@ -10516,7 +10480,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0451.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -10527,44 +10491,42 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0452", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks block but moves in wrong direction and drops it", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0452.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0452.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "", + "additional_notes": "Throughout the video, neither robotic arm makes any movement, failing to execute the commanded task.", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", "camera_id": "camera-left", "camera_label": "left", "episode_id": "ep_0453", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-grasp_failure__at_contact" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Grasp failure (at contact)" + "Task not attempted" ], - "failure_description": "Hovering for too long well above the button and then finally came close to it but did not touch it.", - "info": "push the button

left / Failure", + "failure_description": "The robot arms remained completely stationary and did not attempt the task.", + "info": "tie the banana plug around the two screw drivers

left / Failure", "poster": "posters/ep_0453.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -10575,22 +10537,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", "camera_id": "camera-image_primary", "camera_label": "image_primary", "episode_id": "ep_0454", "failure_category_ids": [ - "failure_category-other" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Other" + "No failure category" ], - "failure_description": "timeout", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0454.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0454.mp4", "success": 0.0, "task_id": "task-failure", @@ -10610,7 +10572,7 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0455.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -10621,47 +10583,45 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0456", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "Stack the green cup into the purple cup

exterior_cam / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0456.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0456.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { - "additional_notes": "The robot contacts both objects but does not perform the tool manipulation required to measure the bowl's radius.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0457", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact", - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)", - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "The robot grasps the tape measure but fails to extend the tape or measure the bowl.", - "info": "measure the radius of the bowl using the tape measure

left / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0457.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0457.mp4", "success": 0.0, "task_id": "task-failure", @@ -10671,8 +10631,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0458", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10681,7 +10641,7 @@ "No failure category" ], "failure_description": "", - "info": "Put the toy broccoli into the bowl

left_base_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0458.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -10694,8 +10654,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "camera_id": "camera-camera_wrist_right", + "camera_label": "camera_wrist_right", "episode_id": "ep_0459", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10704,30 +10664,30 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "Pick up the green cup and stack it on the purple cup

camera_wrist_right / Success", "poster": "posters/ep_0459.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0459.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0460", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "Grasp failure (at contact)" ], - "failure_description": "The mug was picked up but picked the angle that doesn't have enough degrees of freedom, so can't align the mug to the tree.", - "info": "pick up the cup on the table, and hang it on the mug tree.

head / Failure", + "failure_description": "Missed initial grasp on hammer", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", "poster": "posters/ep_0460.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -10737,35 +10697,58 @@ "task_label": "Failure" }, { - "additional_notes": "The video shows a completely static scene with no robot motion, indicating the task was never started.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0461", "failure_category_ids": [ - "failure_category-task_not_attempted" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Task not attempted" + "No failure category" ], - "failure_description": "The robot arms do not move throughout the entire video.", - "info": "rotate box 90 degrees

left / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0461.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0461.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, + { + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0462", + "failure_category_ids": [ + "failure_category-no_failure_category" + ], + "failure_category_labels": [ + "No failure category" + ], + "failure_description": "", + "info": "close the drawer

right_shoulder_cam / Success", + "poster": "posters/ep_0462.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0462.mp4", + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" + }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-right", - "camera_label": "right", - "episode_id": "ep_0462", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", + "episode_id": "ep_0463", "failure_category_ids": [ "failure_category-grasp_failure__at_contact", "failure_category-manipulation_failure__post_contact", @@ -10776,12 +10759,12 @@ "Manipulation failure (post contact)", "Sequencing or semantic failure" ], - "failure_description": "spilled bag while picking it up", - "info": "place the coffee bag in the blue basket

right / Failure", - "poster": "posters/ep_0462.jpg", + "failure_description": "Failed to grasp hammer, grasped plate instead", + "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", + "poster": "posters/ep_0463.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0462.mp4", + "src": "videos/ep_0463.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10792,7 +10775,7 @@ "annotation_label": "No failure annotation", "camera_id": "camera-right_shoulder_cam", "camera_label": "right_shoulder_cam", - "episode_id": "ep_0463", + "episode_id": "ep_0464", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10800,36 +10783,34 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", - "poster": "posters/ep_0463.jpg", + "info": "pick up the corn

right_shoulder_cam / Failure", + "poster": "posters/ep_0464.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0463.mp4", + "src": "videos/ep_0464.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-wrist", - "camera_label": "wrist", - "episode_id": "ep_0464", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0465", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "Grasped the bowl initially but failed to pick up. Approached to pick it up again and the gripper got stuck between the rack.", - "info": "put the bowl on the table

wrist / Failure", - "poster": "posters/ep_0464.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0464.mp4", + "failure_description": "", + "info": "put the corn in the pot

right_shoulder_cam / Failure", + "poster": "posters/ep_0465.jpg", + "severity_id": "severity-no_severity", + "severity_label": "No severity", + "src": "videos/ep_0465.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10838,9 +10819,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", - "episode_id": "ep_0465", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0466", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10848,11 +10829,11 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", - "poster": "posters/ep_0465.jpg", + "info": "close the drawer

right_shoulder_cam / Failure", + "poster": "posters/ep_0466.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0465.mp4", + "src": "videos/ep_0466.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10863,21 +10844,19 @@ "annotation_label": "Has failure annotation", "camera_id": "camera-wrist", "camera_label": "wrist", - "episode_id": "ep_0466", + "episode_id": "ep_0467", "failure_category_ids": [ - "failure_category-reaching_failure__pre_contact", - "failure_category-hardware_mechanical_issue" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Reaching failure (pre contact)", - "Hardware/mechanical issue" + "Grasp failure (at contact)" ], - "failure_description": "Right camera seems to have gotten disconnected. Robot attempts to reach scissors but does not succeed and does not make contact.", - "info": "pick up scissors

wrist / Failure", - "poster": "posters/ep_0466.jpg", + "failure_description": "the robot did not grasp the peg", + "info": "insert the purple peg into a hole

wrist / Failure", + "poster": "posters/ep_0467.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", - "src": "videos/ep_0466.mp4", + "src": "videos/ep_0467.mp4", "success": 0.0, "task_id": "task-failure", "task_label": "Failure" @@ -10886,9 +10865,9 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", - "episode_id": "ep_0467", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", + "episode_id": "ep_0468", "failure_category_ids": [ "failure_category-no_failure_category" ], @@ -10896,44 +10875,21 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", - "poster": "posters/ep_0467.jpg", + "info": "put the corn in the pot

right_shoulder_cam / Success", + "poster": "posters/ep_0468.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", - "src": "videos/ep_0467.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" - }, - { - "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-top", - "camera_label": "top", - "episode_id": "ep_0468", - "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" - ], - "failure_category_labels": [ - "Grasp failure (at contact)" - ], - "failure_description": "Robot fails to grasp the cable", - "info": "Push the Displayport cable into the cable holder on the white block

top / Failure", - "poster": "posters/ep_0468.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0468.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0469", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10942,44 +10898,44 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0469.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0469.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0470", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "manipulated the spoon which is the wrong object", - "info": "Move the hammer to the plate. Then, grasp the mushroom.

image_primary / Failure", + "failure_description": "", + "info": "pick up the cube

exterior_image_1_left / Success", "poster": "posters/ep_0470.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0470.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-right_base_cam", - "camera_label": "right_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0471", "failure_category_ids": [ "failure_category-no_failure_category" @@ -10988,7 +10944,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the plastic eggplant and put it into the blue container

right_base_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0471.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11001,8 +10957,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0472", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11011,7 +10967,7 @@ "No failure category" ], "failure_description": "", - "info": "Pick green block and place on cardboard

exterior_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0472.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11024,20 +10980,20 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0473", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-grasp_failure__at_contact" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Grasp failure (at contact)" ], - "failure_description": "The robot moved the toy on the right instead of the one on the left.", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "failed to press the button despite going very close to it.", + "info": "push the button

wrist / Failure", "poster": "posters/ep_0473.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0473.mp4", "success": 0.0, "task_id": "task-failure", @@ -11051,16 +11007,16 @@ "camera_label": "wrist", "episode_id": "ep_0474", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "Reaching failure (pre contact)" ], - "failure_description": "picks up the ice cream cone instead of sushi and puts in in the pot.", - "info": "put the sushi in the pot

wrist / Failure", + "failure_description": "Robot failed to reach for the peg", + "info": "pick up the blue peg and insert it into the green peghole

wrist / Failure", "poster": "posters/ep_0474.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0474.mp4", "success": 0.0, "task_id": "task-failure", @@ -11070,8 +11026,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0475", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11080,7 +11036,7 @@ "No failure category" ], "failure_description": "", - "info": "Place the yellow object next to the purple eggplant

left_base_cam / Success", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0475.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11103,7 +11059,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0476.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11116,8 +11072,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0477", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11126,7 +11082,7 @@ "No failure category" ], "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0477.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11139,8 +11095,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0478", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11149,21 +11105,21 @@ "No failure category" ], "failure_description": "", - "info": "put the bowl on the table

left / Success", + "info": "stack the blue block on the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0478.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0478.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0479", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11172,7 +11128,7 @@ "No failure category" ], "failure_description": "", - "info": "Remove the yellow fruit from the purple bowl

left_base_cam / Failure", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0479.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11182,23 +11138,23 @@ "task_label": "Failure" }, { - "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "additional_notes": "The robot fails to attempt the task as it does not move or execute any commands during the video.", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-top", + "camera_label": "top", "episode_id": "ep_0480", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "failure_description": "The robot arms remain completely stationary throughout the entire video and make no movements to interact with the objects.", + "info": "unstack the boxes and put them in straight line

top / Failure", "poster": "posters/ep_0480.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0480.mp4", "success": 0.0, "task_id": "task-failure", @@ -11206,26 +11162,26 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", "camera_id": "camera-cam_4_wrist", "camera_label": "cam_4_wrist", "episode_id": "ep_0481", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-task_not_attempted" ], "failure_category_labels": [ - "No failure category" + "Task not attempted" ], - "failure_description": "", - "info": "pick up the red block and put it in the bowl

cam_4_wrist / Success", + "failure_description": "After grasping the red block, the robot did not place it in the bowl.", + "info": "pick up the red block and place it in the bowl

cam_4_wrist / Failure", "poster": "posters/ep_0481.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0481.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -11241,14 +11197,14 @@ "No failure category" ], "failure_description": "", - "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0482.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0482.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", @@ -11264,7 +11220,7 @@ "No failure category" ], "failure_description": "", - "info": "put the corn in the pot

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0483.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11274,25 +11230,23 @@ "task_label": "Failure" }, { - "additional_notes": "The robot performed actions on the wrong object first and ultimately left the banana plug cable coiled in its original state.", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-left", - "camera_label": "left", + "additional_notes": "", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0484", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure", - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure", - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot moved an unrelated orange bowl and then briefly interacted with the red cable, but failed to unravel it.", - "info": "unravel the bananda plug

left / Failure", + "failure_description": "", + "info": "set the mushroom on the green cloth

right_shoulder_cam / Failure", "poster": "posters/ep_0484.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0484.mp4", "success": 0.0, "task_id": "task-failure", @@ -11312,37 +11266,37 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Success", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0485.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0485.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-tactile", - "camera_label": "tactile", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0486", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "the bottle was picked up, but the robot spilled its contents. This is requires significant amount of effort to reset, but it causes no damage.", - "info": "pick up the bottle

tactile / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Success", "poster": "posters/ep_0486.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0486.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", @@ -11358,30 +11312,30 @@ "No failure category" ], "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Success", + "info": "put the corn in the pot

right_shoulder_cam / Failure", "poster": "posters/ep_0487.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0487.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-head", - "camera_label": "head", + "camera_id": "camera-camera_0", + "camera_label": "camera_0", "episode_id": "ep_0488", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "Sequencing or semantic failure" ], - "failure_description": "The mug was not picked up.", - "info": "pick up the cup on the table, and hang it on the mug tree.

head / Failure", + "failure_description": "didn't go over bump", + "info": "carbon fiber layup on concave surface

camera_0 / Failure", "poster": "posters/ep_0488.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -11404,56 +11358,56 @@ "No failure category" ], "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0489.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0489.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0490", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "No failure category" + "Reaching failure (pre contact)" ], - "failure_description": "", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Success", + "failure_description": "Robot fails to find the cable", + "info": "Push the Displayport cable into the cable holder on the white block

wrist / Failure", "poster": "posters/ep_0490.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", + "severity_label": "Low severity - no damage, can be reset and reattempted", "src": "videos/ep_0490.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0491", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Grasp failure (at contact)" + "No failure category" ], - "failure_description": "Failed to grasp toy", - "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", + "failure_description": "", + "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", "poster": "posters/ep_0491.jpg", - "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", - "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0491.mp4", "success": 0.0, "task_id": "task-failure", @@ -11463,8 +11417,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior", - "camera_label": "exterior", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0492", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11473,7 +11427,7 @@ "No failure category" ], "failure_description": "", - "info": "put the purple mug in the basket

exterior / Success", + "info": "pick up the cube

exterior_image_1_left / Success", "poster": "posters/ep_0492.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", @@ -11484,22 +11438,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0493", "failure_category_ids": [ - "failure_category-sequencing_or_semantic_failure" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Sequencing or semantic failure" + "No failure category" ], - "failure_description": "picks ball but moves in wrong direction and drops it", - "info": "Pick basketball and place in blue bowl

exterior_cam / Failure", + "failure_description": "", + "info": "remove the blue cloth from the yellow block

right_shoulder_cam / Failure", "poster": "posters/ep_0493.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0493.mp4", "success": 0.0, "task_id": "task-failure", @@ -11507,22 +11461,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-has_failure_annotation", - "annotation_label": "Has failure annotation", - "camera_id": "camera-right_wrist", - "camera_label": "right_wrist", + "annotation_id": "annotation-no_failure_annotation", + "annotation_label": "No failure annotation", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0494", "failure_category_ids": [ - "failure_category-manipulation_failure__post_contact" + "failure_category-no_failure_category" ], "failure_category_labels": [ - "Manipulation failure (post contact)" + "No failure category" ], - "failure_description": "The robot grasps the bag handle but fails to lift it upright.", - "info": "pack three grocery objects into a seven eleven bag

right_wrist / Failure", + "failure_description": "", + "info": "pick up the corn

right_shoulder_cam / Failure", "poster": "posters/ep_0494.jpg", - "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", - "severity_label": "Low severity - no damage, can be reset and reattempted", + "severity_id": "severity-no_severity", + "severity_label": "No severity", "src": "videos/ep_0494.mp4", "success": 0.0, "task_id": "task-failure", @@ -11530,22 +11484,22 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-wrist", + "camera_label": "wrist", "episode_id": "ep_0495", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-sequencing_or_semantic_failure" ], "failure_category_labels": [ - "No failure category" + "Sequencing or semantic failure" ], - "failure_description": "", - "info": "put the corn on the green cloth

right_shoulder_cam / Failure", + "failure_description": "picked up the ice cream cone and placed it in the orange bowl. Before doing so, it hovered for some time near the bowl.", + "info": "put the sushi in the pot

wrist / Failure", "poster": "posters/ep_0495.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0495.mp4", "success": 0.0, "task_id": "task-failure", @@ -11553,22 +11507,24 @@ }, { "additional_notes": "", - "annotation_id": "annotation-no_failure_annotation", - "annotation_label": "No failure annotation", - "camera_id": "camera-right_shoulder_cam", - "camera_label": "right_shoulder_cam", + "annotation_id": "annotation-has_failure_annotation", + "annotation_label": "Has failure annotation", + "camera_id": "camera-front", + "camera_label": "front", "episode_id": "ep_0496", "failure_category_ids": [ - "failure_category-no_failure_category" + "failure_category-grasp_failure__at_contact", + "failure_category-collision_failure" ], "failure_category_labels": [ - "No failure category" + "Grasp failure (at contact)", + "Collision failure" ], - "failure_description": "", - "info": "stack the yellow block on the blue blocks

right_shoulder_cam / Failure", + "failure_description": "Robot fails to grasp the cable and also hits its wrist camera against the white block", + "info": "Push the Displayport cable into the cable holder on the white block

front / Failure", "poster": "posters/ep_0496.jpg", - "severity_id": "severity-no_severity", - "severity_label": "No severity", + "severity_id": "severity-medium_severity___some_damage_or_risk_of_damage_or_significant_reset_required__but_can_be_reattempted", + "severity_label": "Medium severity - some damage or risk of damage or significant reset required, but can be reattempted", "src": "videos/ep_0496.mp4", "success": 0.0, "task_id": "task-failure", @@ -11578,19 +11534,17 @@ "additional_notes": "", "annotation_id": "annotation-has_failure_annotation", "annotation_label": "Has failure annotation", - "camera_id": "camera-image_primary", - "camera_label": "image_primary", + "camera_id": "camera-exterior_image_1_left", + "camera_label": "exterior_image_1_left", "episode_id": "ep_0497", "failure_category_ids": [ - "failure_category-grasp_failure__at_contact", - "failure_category-other" + "failure_category-reaching_failure__pre_contact" ], "failure_category_labels": [ - "Grasp failure (at contact)", - "Other" + "Reaching failure (pre contact)" ], - "failure_description": "struggled to grasp banana leading to timeout", - "info": "Move the banana to the pot on the right and sushi to the bowl.

image_primary / Failure", + "failure_description": "Reaching failure", + "info": "pick up the cube

exterior_image_1_left / Failure", "poster": "posters/ep_0497.jpg", "severity_id": "severity-low_severity___no_damage__can_be_reset_and_reattempted", "severity_label": "Low severity - no damage, can be reset and reattempted", @@ -11626,8 +11580,8 @@ "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-exterior_cam", - "camera_label": "exterior_cam", + "camera_id": "camera-image_primary", + "camera_label": "image_primary", "episode_id": "ep_0499", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11636,21 +11590,21 @@ "No failure category" ], "failure_description": "", - "info": "Pick basketball and place in blue bowl

exterior_cam / Success", + "info": "Move the left stuffed toy to the largest bowl.

image_primary / Failure", "poster": "posters/ep_0499.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0499.mp4", - "success": 1.0, - "task_id": "task-success", - "task_label": "Success" + "success": 0.0, + "task_id": "task-failure", + "task_label": "Failure" }, { "additional_notes": "", "annotation_id": "annotation-no_failure_annotation", "annotation_label": "No failure annotation", - "camera_id": "camera-left_base_cam", - "camera_label": "left_base_cam", + "camera_id": "camera-right_shoulder_cam", + "camera_label": "right_shoulder_cam", "episode_id": "ep_0500", "failure_category_ids": [ "failure_category-no_failure_category" @@ -11659,14 +11613,14 @@ "No failure category" ], "failure_description": "", - "info": "Pick up the yellow pear and put it in the blue bowl

left_base_cam / Failure", + "info": "put the corn on the green cloth

right_shoulder_cam / Success", "poster": "posters/ep_0500.jpg", "severity_id": "severity-no_severity", "severity_label": "No severity", "src": "videos/ep_0500.mp4", - "success": 0.0, - "task_id": "task-failure", - "task_label": "Failure" + "success": 1.0, + "task_id": "task-success", + "task_label": "Success" } ] } diff --git a/posters/ep_0001.jpg b/posters/ep_0001.jpg index a156606a9e399226d02d19e4c47e190bf1fd497e..3db052c4a8671e819299b94a4a74631753ba1a42 100644 --- a/posters/ep_0001.jpg +++ b/posters/ep_0001.jpg @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:80e1741fe9d4c6c77743b722f953b4099337b96e5436e547026afbcba638f2c2 -size 10693 +oid sha256:804990e691d187fa2859965467e83b763eccd273f56f6fb431a16f02975217fb +size 19785 diff --git a/posters/ep_0002.jpg b/posters/ep_0002.jpg index 315c7f64a51a40bafe714f1e6c5bc6d627e9346b..db2adfef03341900751acc84f03a3e1559e4dc84 100644 --- a/posters/ep_0002.jpg +++ b/posters/ep_0002.jpg @@ -1,3 +1,3 @@ version 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