Datasets:

liveplex
/

robogate-failure-dictionary

friction float64 0 1.2	mass float64 0.05 3	com_offset float64 0 0.4	size float64 0 0.12	ik_noise float64 0 0.04	obstacles int64 0 5	shape stringclasses 6 values	placement stringclasses 14 values	success bool 2 classes	failure_type stringclasses 5 values	cycle_time float64 0.22 33.8	collision bool 2 classes	drop bool 2 classes	grasp_miss bool 2 classes	fail_prob float64 0 1	zone stringclasses 4 values	sample_idx int64 0 10k
0.603178	0.08545	0.081475	0.074259	0.03656	2	box	rotated_135	true	none	1.437	false	false	false	0.692	boundary	0
0.08624	0.221729	0.118569	0.055398	0.031335	0	L_shape	center_90	false	timeout	1.688	false	false	false	0.7964	danger	1
0.882747	1.353067	0.107362	0.110804	0.007017	2	box	edge_45	true	none	1.421	false	false	false	0.4943	boundary	2
0.277106	0.297373	0.048939	0.111606	0.010092	4	irregular	left_45	false	collision	0.719	true	false	false	0.783	danger	3
0.420508	0.741274	0.285452	0.054417	0.019395	3	L_shape	center_45	true	none	1.344	false	false	false	0.795	danger	4
0.059641	1.696997	0.230126	0.043678	0.013683	4	irregular	right_45	false	timeout	1.594	false	false	false	0.9914	danger	5
0.068427	0.135086	0.020343	0.058316	0.000534	0	box	edge_0	false	grip_loss	1.657	false	true	false	0.5155	boundary	6
0.539557	0.747633	0.344075	0.056151	0.036818	2	box	rotated_135	true	none	1.516	false	false	false	0.8074	danger	7
0.967346	0.182427	0.070547	0.090722	0.038786	3	sphere	rotated_90	true	none	1.625	false	false	false	0.8036	danger	8
0.495897	0.25122	0.214089	0.054755	0.010719	4	L_shape	right_0	false	collision	0.672	true	false	false	0.7839	danger	9
0.439495	0.298936	0.038385	0.055222	0.012124	3	cylinder	edge_45	true	none	1.469	false	false	false	0.6493	boundary	10
0.181879	0.151883	0.296711	0.057294	0.003281	2	cylinder	left_0	false	collision	0.656	true	false	false	0.6829	boundary	11
0.107831	1.802728	0.213783	0.114433	0.017121	3	L_shape	rotated_90	false	timeout	1.641	false	false	false	0.9857	danger	12
0.078603	0.496978	0.234057	0.051428	0.001605	1	sphere	center_0	false	grip_loss	1.688	false	true	false	0.6856	boundary	13
0.831962	0.503675	0.131217	0.072544	0.029125	3	box	center_90	true	none	1.562	false	false	false	0.6739	boundary	14
0.19381	0.115081	0.118151	0.114991	0.005148	1	box	edge_45	false	grip_loss	1.406	false	true	false	0.5088	boundary	15
0.640162	0.408151	0.055498	0.058818	0.017646	1	cylinder	left_0	false	timeout	1.719	false	false	false	0.4912	boundary	16
1.05196	0.526811	0.20031	0.062412	0.003273	0	L_shape	rotated_45	false	timeout	1.75	false	false	false	0.5688	boundary	17
0.284703	0.069132	0.258958	0.097387	0.023732	1	irregular	center_45	false	timeout	1.984	false	false	false	0.7763	danger	18
0.154788	0.066325	0.235809	0.088795	0.02699	1	sphere	left_0	false	collision	0.469	true	false	false	0.7819	danger	19
0.296039	0.499019	0.31952	0.068938	0.019074	4	L_shape	edge_90	true	none	1.656	false	false	false	0.8775	danger	20
0.702248	0.167672	0.276636	0.096524	0.03687	4	cylinder	center_90	false	grasp_miss	1.64	false	false	true	0.8433	danger	21
0.826752	0.083252	0.102253	0.084633	0.001558	3	cylinder	rotated_135	true	none	1.5	false	false	false	0.5779	boundary	22
0.393896	0.195969	0.223091	0.09696	0.034757	4	cylinder	edge_0	false	timeout	1.859	false	false	false	0.8605	danger	23
0.064053	0.081794	0.385091	0.060424	0.014939	3	cylinder	rotated_0	false	timeout	1.797	false	false	false	0.8864	danger	24
0.346636	1.091213	0.148727	0.026006	0.008194	2	sphere	edge_90	false	timeout	1.656	false	false	false	0.7649	danger	25
1.076346	0.120537	0.282228	0.045755	0.002247	3	box	edge_0	true	none	1.454	false	false	false	0.6742	boundary	26
1.090042	0.26002	0.083444	0.10444	0.001862	0	cylinder	center_90	true	none	1.453	false	false	false	0.2136	safe	27
0.072335	1.474809	0.341533	0.087677	0.012687	4	L_shape	right_45	false	grasp_miss	1.781	false	false	true	0.9891	danger	28
1.179219	0.127885	0.260945	0.100876	0.036284	2	L_shape	center_0	true	none	1.532	false	false	false	0.8188	danger	29
0.245943	0.686205	0.334749	0.074049	0.022688	0	irregular	center_45	false	grip_loss	1.485	false	true	false	0.8059	danger	30
0.431057	1.993925	0.236658	0.100185	0.021074	1	sphere	edge_90	false	timeout	1.687	false	false	false	0.7221	danger	31
0.798032	0.105119	0.144862	0.034149	0.017704	1	cylinder	rotated_0	true	none	1.563	false	false	false	0.6767	boundary	32
0.20023	0.267073	0.230223	0.110599	0.000261	0	box	rotated_90	true	none	1.453	false	false	false	0.4501	boundary	33
0.182791	0.106846	0.345518	0.078921	0.005575	4	cylinder	left_0	false	grasp_miss	1.672	false	false	true	0.8161	danger	34
0.116155	1.048024	0.317654	0.023107	0.003601	3	L_shape	edge_0	false	timeout	1.797	false	false	false	0.9617	danger	35
0.091283	0.436858	0.004005	0.09376	0.006725	1	box	rotated_0	false	timeout	1.937	false	false	false	0.5616	boundary	36
0.155681	0.319149	0.009921	0.061092	0.033119	4	cylinder	center_0	true	none	1.438	false	false	false	0.8314	danger	37
0.32412	0.228778	0.040696	0.100321	0.007748	0	sphere	center_0	false	timeout	1.734	false	false	false	0.348	boundary	38
1.032307	0.216514	0.332947	0.098792	0.001541	4	box	edge_90	true	none	1.516	false	false	false	0.7498	danger	39
0.090308	0.086028	0.199731	0.060628	0.015839	0	irregular	left_45	false	timeout	1.719	false	false	false	0.7871	danger	40
0.27851	1.94212	0.173939	0.100073	0.036243	2	L_shape	right_0	false	timeout	1.75	false	false	false	0.8306	danger	41
0.150297	0.558741	0.098106	0.094852	0.017428	3	box	center_0	false	timeout	1.813	false	false	false	0.6788	boundary	42
1.071999	0.053911	0.299895	0.036565	0.006307	3	L_shape	rotated_90	true	none	1.562	false	false	false	0.8254	danger	43
0.8441	0.353763	0.195753	0.095106	0.020009	1	sphere	edge_45	true	none	1.625	false	false	false	0.6945	boundary	44
0.099024	1.580644	0.370172	0.096172	0.00447	0	L_shape	edge_90	false	timeout	1.766	false	false	false	0.9767	danger	45
0.128933	1.058565	0.168356	0.037753	0.02358	2	L_shape	edge_90	true	none	1.578	false	false	false	0.9261	danger	46
0.293639	1.150148	0.152219	0.03524	0.026025	0	cylinder	right_0	true	none	1.531	false	false	false	0.6661	boundary	47
0.104915	0.209374	0.390424	0.057554	0.016779	0	cylinder	rotated_135	true	none	1.515	false	false	false	0.8132	danger	48
0.562138	0.305462	0.004584	0.086164	0.024397	4	sphere	left_45	false	timeout	1.875	false	false	false	0.7652	danger	49
0.908961	0.77889	0.241406	0.072128	0.034066	4	sphere	edge_90	false	grasp_miss	1.578	false	false	true	0.881	danger	50
0.272457	0.087521	0.351698	0.021427	0.006012	2	irregular	center_90	false	grip_loss	1.469	false	true	false	0.8772	danger	51
0.121827	0.083403	0.145357	0.021114	0.035053	0	L_shape	center_45	false	grasp_miss	1.703	false	false	true	0.9137	danger	52
0.344189	0.103589	0.110282	0.100926	0.002075	0	sphere	right_0	false	grip_loss	1.484	false	true	false	0.3602	boundary	53
0.414164	1.02118	0.36652	0.038914	0.014265	1	sphere	edge_90	false	timeout	1.672	false	false	false	0.805	danger	54
0.064922	1.196322	0.100797	0.09758	0.017317	1	cylinder	rotated_45	true	none	1.453	false	false	false	0.9075	danger	55
0.115067	0.977487	0.255946	0.076974	0.027414	2	L_shape	rotated_135	false	timeout	1.703	false	false	false	0.918	danger	56
0.246616	0.061926	0.354239	0.021376	0.018228	2	box	left_45	false	collision	0.735	true	false	false	0.8452	danger	57
0.113227	0.790667	0.159173	0.062225	0.032586	3	cylinder	center_90	false	collision	0.312	true	false	false	0.8691	danger	58
0.284567	0.646302	0.242257	0.116578	0.034053	4	cylinder	rotated_90	false	timeout	1.734	false	false	false	0.8619	danger	59
0.082081	0.245062	0.193029	0.077432	0.019648	4	irregular	edge_90	false	timeout	1.719	false	false	false	0.9147	danger	60
1.016059	0.902372	0.076841	0.115733	0.019837	0	sphere	center_0	true	none	1.437	false	false	false	0.4956	boundary	61
0.124052	0.207611	0.138199	0.068419	0.039986	3	box	edge_0	true	none	1.5	false	false	false	0.8377	danger	62
0.347312	0.050409	0.377904	0.106265	0.038324	3	sphere	rotated_135	false	timeout	1.75	false	false	false	0.8908	danger	63
1.147072	0.08022	0.381395	0.023758	0.016955	3	cylinder	left_45	true	none	1.454	false	false	false	0.8711	danger	64
0.175465	0.142739	0.309647	0.027092	0.005616	2	cylinder	edge_0	false	grip_loss	1.594	false	true	false	0.8537	danger	65
1.066542	1.750951	0.347921	0.08064	0.005351	3	irregular	rotated_135	false	timeout	1.843	false	false	false	0.8378	danger	66
0.108306	0.235383	0.256291	0.066022	0.037701	2	cylinder	center_0	false	timeout	1.703	false	false	false	0.8372	danger	67
0.184419	0.110164	0.316713	0.113592	0.006611	4	sphere	edge_45	false	timeout	1.797	false	false	false	0.854	danger	68
0.158578	0.167426	0.239634	0.028505	0.030706	0	cylinder	left_0	false	collision	0.437	true	false	false	0.8455	danger	69
0.486196	0.109623	0.297091	0.094485	0.008087	4	irregular	rotated_0	true	none	1.469	false	false	false	0.8556	danger	70
0.187872	0.105241	0.087938	0.026807	0.034235	2	L_shape	right_45	false	grasp_miss	1.625	false	false	true	0.8914	danger	71
0.693439	0.54942	0.249335	0.079935	0.007087	0	cylinder	center_45	true	none	1.391	false	false	false	0.4295	boundary	72
0.202362	0.095062	0.013621	0.111817	0.000828	1	box	rotated_135	false	grip_loss	1.484	false	true	false	0.3835	boundary	73
0.911079	0.378346	0.067967	0.073832	0.014088	2	sphere	left_0	false	collision	0.875	true	false	false	0.5881	boundary	74
0.071559	0.24026	0.373699	0.067435	0.030448	1	cylinder	left_45	false	grip_loss	1.516	false	true	false	0.8702	danger	75
0.223972	0.140041	0.038998	0.10929	0.025584	4	L_shape	rotated_90	false	timeout	1.766	false	false	false	0.8478	danger	76
0.449352	0.46703	0.024452	0.086516	0.014602	2	L_shape	left_45	true	none	1.437	false	false	false	0.6363	boundary	77
0.118001	0.44984	0.111	0.084141	0.014285	3	box	edge_0	false	timeout	1.89	false	false	false	0.7405	danger	78
0.391462	0.308094	0.298314	0.077095	0.013922	3	cylinder	rotated_45	true	none	1.391	false	false	false	0.7534	danger	79
0.09645	0.154551	0.396322	0.106749	0.018849	4	irregular	center_90	false	grip_loss	1.438	false	true	false	0.9321	danger	80
0.112925	0.062533	0.199532	0.029136	0.02713	4	irregular	rotated_45	false	grip_loss	1.515	false	true	false	0.9531	danger	81
0.379379	0.181956	0.049149	0.105772	0.017179	3	sphere	edge_0	false	timeout	1.813	false	false	false	0.7212	danger	82
0.169289	0.405611	0.218928	0.090624	0.032256	4	cylinder	edge_0	false	grasp_miss	1.547	false	false	true	0.8865	danger	83
0.20972	0.222277	0.183499	0.028618	0.023177	1	L_shape	rotated_90	false	grip_loss	1.391	false	true	false	0.8529	danger	84
0.533658	0.513885	0.31455	0.036433	0.022137	0	sphere	rotated_0	false	grasp_miss	1.531	false	false	true	0.7768	danger	85
0.386021	0.081232	0.138249	0.078987	0.014783	0	sphere	left_0	false	collision	0.375	true	false	false	0.5025	boundary	86
0.533547	0.782437	0.352475	0.03329	0.013024	1	L_shape	edge_90	false	grasp_miss	1.562	false	false	true	0.836	danger	87
0.360819	0.224734	0.023811	0.074713	0.026737	2	irregular	edge_0	true	none	1.406	false	false	false	0.8012	danger	88
0.101479	0.230803	0.317114	0.11184	0.008122	0	irregular	edge_90	true	none	1.375	false	false	false	0.8338	danger	89
0.763677	0.318576	0.262019	0.065767	0.015395	3	L_shape	edge_90	true	none	1.406	false	false	false	0.8127	danger	90
0.09396	0.07233	0.096784	0.035615	0.029645	0	cylinder	center_0	false	grasp_miss	1.5	false	false	true	0.7981	danger	91
0.079044	0.820576	0.070394	0.039516	0.009507	1	cylinder	rotated_45	false	grip_loss	1.547	false	true	false	0.8176	danger	92
0.281212	0.492462	0.195787	0.066812	0.025231	1	box	left_0	false	collision	0.578	true	false	false	0.5839	boundary	93
0.186488	0.409326	0.050882	0.063771	0.021623	4	box	left_0	false	collision	0.359	true	false	false	0.7356	danger	94
0.073761	0.222759	0.278906	0.067531	0.002625	4	irregular	center_0	true	none	1.422	false	false	false	0.8793	danger	95
0.143515	1.109984	0.336087	0.113407	0.009907	1	L_shape	left_0	false	collision	0.594	true	false	false	0.871	danger	96
0.23565	0.24835	0.043781	0.117731	0.025746	2	irregular	edge_90	true	none	1.391	false	false	false	0.8201	danger	97
0.186684	1.605597	0.398682	0.111659	0.01964	4	sphere	rotated_45	false	collision	0.266	true	false	false	0.953	danger	98
0.058755	0.378969	0.396563	0.090022	0.009655	3	sphere	center_45	true	none	1.5	false	false	false	0.8771	danger	99

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RoboGate Failure Dictionary

30,000 Physics-Validated Pick & Place Failure Patterns across Franka Panda & UR5e

A structured database of robot AI failure patterns collected from NVIDIA Isaac Sim physical simulations using Two-Stage Adaptive Sampling. Each experiment records the exact conditions under which a robot succeeded or failed at Pick & Place tasks.

Quick Stats

	Franka Uniform	Franka Boundary	UR5e	Combined
Experiments	10,000	10,000	10,000	30,000
Success Rate	33.3%	63.8%	74.3%	—
Franka Combined	—	48.6%	—	—
Risk Model AUC	0.65	0.777	—	0.777
Sampling	Uniform LHS	Boundary LHS	Uniform LHS	Two-Stage

Key Findings

friction × mass interaction z = -10.00 — strongest predictor of failure
Friction threshold: 0.492 ± 0.031 — below this, failure cascades
Mass > 0.93 kg → Both robots fail at < 40% SR (universal danger zone)
Boundary equation: μ*(m) = (1.469 + 0.419m) / (3.691 - 1.400m)
AUC improved 0.65 → 0.777 (+19.5%) with boundary-focused sampling
Failure mode transition: friction↓ → timeout → collision → grasp_miss

Two-Stage Adaptive Sampling

Stage 1 — Uniform Exploration (20,000)

Franka Panda 10K + UR5e 10K
Latin Hypercube Sampling for uniform parameter space coverage
Identified boundary regions and initial risk model (AUC 0.65)

Stage 2 — Boundary-Focused (10,000)

Franka Panda only, targeting boundary/transition regions
Concentrated sampling near friction threshold 0.492
Revealed failure mode transitions invisible to uniform sampling
Boosted Risk Model AUC to 0.777 (+19.5%)

Universal Danger Zones (mass > 0.93 kg)

Mass Range	Franka SR	UR5e SR
0.93 – 1.23 kg	21.4%	30.9%
1.23 – 1.52 kg	14.9%	25.3%
1.52 – 1.82 kg	12.5%	28.9%
1.82 – 2.11 kg	6.6%	28.1%

Usage

from datasets import load_dataset

ds = load_dataset("liveplex/robogate-failure-dictionary")
print(ds["train"][0])

# Filter danger zones
danger = ds["train"].filter(lambda x: x["zone"] == "danger")
print(f"Danger zones: {len(danger)}")

Parameter Space

Parameter	Range	Scale	Paper
friction	0.05 – 1.2	log-uniform	SIMPLER 2024
mass	0.05 – 2.0 kg	log-uniform	SIMPLER 2024
com_offset	0.0 – 0.40	uniform	Suction Grasp 2025
size	0.02 – 0.12 m	uniform	SIMPLER 2024
ik_noise	0.0 – 0.04 rad	uniform	ICRA Sim2Real 2025
obstacles	0 – 4	integer	RoboFAC 2025
shape	5 types	categorical	Grasp Anything 2024
placement	14 types	categorical	ALEAS 2025

Research Foundations

Design Choice	Paper	Year
Two-Stage Adaptive Sampling	ALEAS	2025
friction × mass interaction	SIMPLER	CoRL 2024
Failure taxonomy	RoboFAC	NeurIPS 2025
Cross-robot validation	RoboMIND	RSS 2025
UR-specific failures	Guardian	ICRA 2025
Confidence intervals	SureSim	Badithela 2025
GPU simulation	Isaac Lab	NVIDIA 2025
Grasp evaluation	Isaac Sim Grasping SDG	NVIDIA 2025

VLA Benchmark — 4-Model Leaderboard

Four VLA models evaluated on RoboGate's 68-scenario adversarial suite. All scored 0% SR — including NVIDIA's official GR00T N1.6.

Model	Params	SR	Confidence	Failure Pattern
Scripted Controller	—	100% (68/68)	76/100	—
GR00T N1.6 (NVIDIA)	3B	0% (0/68)	1/100	grasp_miss + collision
OpenVLA (Stanford + TRI)	7B	0% (0/68)	27/100	grasp_miss dominant, 0 collision
Octo-Base (UC Berkeley)	93M	0% (0/68)	1/100	grasp_miss 79%, collision 21%
Octo-Small (UC Berkeley)	27M	0% (0/68)	1/100	grasp_miss 79.4%, collision 20.6%

Model size is not the bottleneck — even NVIDIA's flagship 3B model cannot bridge the training-deployment distribution gap.

Leaderboard: robogate.io/vla · Paper: arXiv:2603.22126

Citation

@dataset{robogate_failure_dictionary_2026,
  title={RoboGate Failure Dictionary: 30K Physics-Validated Pick & Place Failure Patterns},
  author={RoboGate Team},
  year={2026},
  url={https://huggingface.co/datasets/liveplex/robogate-failure-dictionary},
  note={Franka Panda + UR5e, Two-Stage Adaptive Sampling, AUC 0.777}
}

Space using liveplex/robogate-failure-dictionary 1

Paper for liveplex/robogate-failure-dictionary

ROBOGATE: Adaptive Failure Discovery for Safe Robot Policy Deployment via Two-Stage Boundary-Focused Sampling

Paper • 2603.22126 • Published 3 days ago