REBOOT: From Failure to Recovery - A Dataset and Benchmark for Precision Assembly

Abstract:Robot learning policies fail in characteristic ways: they stall in uncertain states, drift during contact-rich alignment, and miss targets by millimetres in precision tasks. Yet training datasets consist largely of successful demonstrations, while real-world benchmarks often reduce performance to binary success. This limits both supervision for recovery and analysis of where failures occur. We introduce REBOOT (Recovery Episode Benchmark for Off-nominal Trajectories), the first robot manipulation benchmark designed around failure as a first-class signal. REBOOT contains 2,160 demonstrations across 18 precision assembly tasks, each decomposed into five shared phases: Align(pick), Engage(pick), Transport, Align(place), and Engage(place), enabling phase-level evaluation beyond terminal success. Failures are introduced across phases and paired with expert recovery trajectories that return the system to a valid continuation state. Tasks are annotated with rotational symmetry, engagement-clearance precision tier, and assembly direction through matched install-remove pairs. Failure episodes are labeled by phase and categorical failure mode, enabling attribution to kinematic stage and tolerance violation. Data includes synchronized RGB-D observations from four viewpoints and grounded natural-language descriptions of phase-level success and failure conditions. Half the dataset contains expert demonstrations; the other half contains recovery demonstrations sampled to reflect failures observed in imitation-learned policy rollouts. We benchmark action-chunked transformer, diffusion, and $\pi_0$-FAST policies using phase-level completion rates, revealing model-specific failure points hidden by binary evaluation. Dataset and code: this https URL

Robotics (cs.RO)

arXiv:2609.22591 [cs.RO]

(or arXiv:2609.22591v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.22591 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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