Labeled robot-failure trials built on LIBERO teleop demos (Franka Panda). Each trial injects a
hardware failure partway through a demo and records the contacts the failure causes during a
1-second settle. The supervised target is a 240×320 force-weighted contact heatmap in the
agentview camera — the model predicts where a failure at a given pre-failure configuration drives
the robot/objects into contact.
Sibling dataset:… See the full description on the dataset page:
https://huggingface.co/datasets/aaronngx/failbench-libero-v2.
