Datasets:
194 episodes · 30 fps · 2 cameras · 848×480 av1
This dataset was created using LeRobot.
Pick and Place Failure Labeling
This dataset is a failure-only, frame-labeled subset derived from KGB0/pick_and_place_annotation_image.
It keeps complete episodes that contain at least one failure label and adds frame-level failure annotation columns for failure detection and recovery experiments.
Generated at: 2026-06-16T02:22:18+00:00
Target repo: KGB0/pick_and_place_failure_labeling
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 194,
"total_frames": 69416,
"total_tasks": 14,
"total_videos": 388,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:194"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kRightHandPinky",
"kRightHandRing",
"kRightHandMiddle",
"kRightHandIndex",
"kRightHandThumbBend",
"kRightHandThumbRotation"
]
]
},
"action": {
"dtype": "float32",
"shape": [
26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kRightHandPinky",
"kRightHandRing",
"kRightHandMiddle",
"kRightHandIndex",
"kRightHandThumbBend",
"kRightHandThumbRotation"
]
]
},
"observation.language.tokens": {
"dtype": "int32",
"shape": [
48
],
"names": [
"seq"
]
},
"observation.language.attention_mask": {
"dtype": "int8",
"shape": [
48
],
"names": [
"seq"
]
},
"observation.contact.left_hand": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.right_hand": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.object_id": {
"dtype": "int32",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.source_frame_index": {
"dtype": "int32",
"shape": [
1
],
"names": [
"index"
]
},
"observation.contact.valid": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.contact.confidence_id": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_third": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.tactiles.left_tactile_little_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
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8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
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"channel"
]
},
"observation.tactiles.left_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
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8
],
"names": [
"channels",
"height",
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]
},
"observation.tactiles.left_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
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]
},
"observation.tactiles.left_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
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"channel"
]
},
"observation.tactiles.left_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.left_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_little_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.tactiles.right_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"annotation.failure.is_failure": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
],
"description": "1 on frames inside a labeled failure interval, else 0."
},
"annotation.failure.episode_has_failure": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
],
"description": "1 for every row in this failure-only episode subset."
},
"annotation.failure.primary_label_id": {
"dtype": "int32",
"shape": [
1
],
"names": [
"label_id"
],
"description": "Primary active label id for this frame, or -1 outside labeled intervals."
},
"annotation.failure.failure_type_id": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
],
"description": "Primary failure type id, or -1 outside labeled intervals."
},
"annotation.failure.sub_task_type_id": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
],
"description": "Primary sub-task type id, or -1 outside labeled intervals."
},
"annotation.failure.hand_type_id": {
"dtype": "int8",
"shape": [
1
],
"names": [
"label"
],
"description": "Primary hand type id, or -1 outside labeled intervals."
},
"annotation.failure.num_active_labels": {
"dtype": "int8",
"shape": [
1
],
"names": [
"count"
],
"description": "Number of active label intervals on this frame. Values >1 indicate overlap/composite labels."
},
"annotation.failure.original_episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": [
"index"
],
"description": "Episode index in the source dataset before failure-subset reindexing."
},
"annotation.failure.original_index": {
"dtype": "int64",
"shape": [
1
],
"names": [
"index"
],
"description": "Original global frame index from the source parquet, or -1 if not available."
}
},
"failure_labeling": {
"source_repo": "KGB0/pick_and_place_annotation_image",
"source_root": "C:\\Users\\KGB\\Desktop\\kiat\\lerobot-v3\\kgb_pick_and_place_failure_dataset_tools_v5\\_source_pick_and_place_annotation_image",
"labels_manifest": "C:\\Users\\KGB\\Desktop\\kiat\\lerobot-v3\\kgb_pick_and_place_failure_dataset_tools_v5\\failure_labels_manifest.jsonl",
"label_mappings": {
"hand_type_to_id": {
"left": 0,
"right": 1,
"both": 2
},
"sub_task_type_to_id": {
"reaching": 0,
"grasping": 1,
"lifting": 2,
"moving": 3,
"placing": 4
},
"failure_type_to_id": {
"slip": 0,
"collision": 1,
"missed_grasp": 2,
"off_target": 3,
"wrong_orientation": 4
}
},
"frame_interval": "[start_frame, end_frame_exclusive)",
"primary_label_rule": "Among active labels, choose the one with latest start_frame, then latest source_row_index.",
"kept_frames": "All frames from failure episodes are kept. annotation.failure.is_failure=1 only inside labeled intervals.",
"embeddings": {
"enabled": true,
"embedding_key": "tactile_tokens",
"path": "embeddings/tactile_tokens/by_original_episode/chunk-{episode_chunk:03d}/episode_{original_episode_index:04d}.pt",
"indexing": "The .pt file payload preserves the original source episode id. Use meta/embeddings.jsonl to map derived episode_index to original_episode_index and embedding_path.",
"storage_policy": "Auxiliary sidecar files; not listed as frame-level features in meta/info.json."
}
}
}
Failure Labeling Additions
The source dataset is not modified. This repository is a separate derived dataset.
For each selected episode, all frames are kept so that pre-failure and recovery context remains available.
Frames inside a labeled failure interval have annotation.failure.is_failure = 1; context frames outside the interval have annotation.failure.is_failure = 0.
Summary
- Failure episodes:
194 - Label intervals:
228 - Total frames in derived dataset:
69416 - Failure-labeled frames after rewrite:
20963 - Copied video files:
388 - Max active labels per frame:
2 - Auxiliary embedding files copied:
0 - Missing auxiliary embedding files:
0
Auxiliary per-episode embeddings
No auxiliary embedding files were included in this build.
Failure type counts
collision: 99missed_grasp: 41off_target: 22slip: 49wrong_orientation: 17
Sub-task type counts
grasping: 75lifting: 1moving: 8placing: 76reaching: 68
Failure episode counts by object/task
baseball: 28empty_bottle: 31empty_can: 19empty_plastic_cup: 22filled_bottle: 21filled_can: 6red_cup: 31soccer_ball: 16transparent_cup: 20
Added frame-level columns
annotation.failure.is_failure: 1 inside a labeled failure interval, else 0.annotation.failure.episode_has_failure: 1 for every frame in this failure-only subset.annotation.failure.primary_label_id: active label id, or -1 outside labeled intervals.annotation.failure.failure_type_id: numeric failure type id, or -1 outside labeled intervals.annotation.failure.sub_task_type_id: numeric sub-task type id, or -1 outside labeled intervals.annotation.failure.hand_type_id: numeric hand type id, or -1 outside labeled intervals.annotation.failure.num_active_labels: number of active overlapping labels on the frame.annotation.failure.original_episode_index: source dataset episode index before reindexing.annotation.failure.original_index: source dataset global frame index before reindexing.
Label ID mappings
{
"hand_type_to_id": {
"left": 0,
"right": 1,
"both": 2
},
"sub_task_type_to_id": {
"reaching": 0,
"grasping": 1,
"lifting": 2,
"moving": 3,
"placing": 4
},
"failure_type_to_id": {
"slip": 0,
"collision": 1,
"missed_grasp": 2,
"off_target": 3,
"wrong_orientation": 4
}
}
Interval convention
- Frame intervals use
[start_frame, end_frame_exclusive). start_frame = floor(start_time_sec * fps).end_frame_exclusive = ceil(end_time_sec * fps), clamped to episode length.- If
end_timewas blank in the source labeling sheet, the interval is closed by the next label start within the same episode; if no later label exists, it continues to the episode end.
Provenance files
The meta/ directory includes:
failure_labels.jsonl: resolved interval labels after episode reindexing.failure_episodes.jsonl: per-episode grouping of labels.failure_episode_map.jsonl: mapping from derived episode indices to source episode indices.failure_label_mappings.json: categorical ID mappings.embeddings.jsonl: optional mapping from derived failure episodes to auxiliary.ptembedding sidecars, if embeddings were provided at build time.embeddings_summary.json: optional validation/copy summary for embedding sidecars.
The repository root includes build_report.json with build diagnostics and one_step_report.json with upload diagnostics.
Citation
BibTeX:
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