FactoryNet: A Large-Scale Dataset toward Industrial Time-Series Foundation Models.

FactoryNet is a large-scale, unified dataset designed to advance Industrial Time-Series Foundation Models within robotic manufacturing. By providing highly standardized, high-frequency telemetry across different robot morphologies (UR3, KUKA), specialized end-effectors (screwdrivers, grippers), and tens of thousands of simulated counterfactuals, FactoryNet serves as a rigorous benchmark for sequence modeling, anomaly detection, and sim-to-real gap analysis.

This repository is completely anonymized for double-blind review.

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Repository Structure

The repository is structured into two main components: the unified structured data (/data) and the Sim2Real gap evaluation artifacts (/artifacts).

• data/: Contains the massive-scale, chunked Parquet files adhering to the S-E-F-C schema.
  • aursad_*.parquet, cnc_*.parquet, voraus_*.parquet: Pre-existing structured datasets.
  • factorywave_*.parquet: Real-world UR3 and KUKA telemetry (including specialized screwdriver torque data and episode metadata).
  • simulations_baseline_*.parquet: 10,000+ baseline pick-and-place episodes generated in Isaac Sim 4.5.0.
  • simulations_counterfactual_*.parquet: Matched counterfactual episodes for causal and anomaly modeling.
• artifacts/: Contains the targeted Sim2Real benchmarking toolkit.
  • real_csv/ & sim_csv/: Paired episode CSVs matching real-world executions with Isaac Sim equivalents.
  • pick_configs/: Per-episode JSON configurations driving the simulation parameters.
  • gap_reports/ & summary/: Aggregated gap analysis, inventories, and per-episode markdown reports.

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The S-E-F-C Master Schema

To facilitate foundation model training across heterogeneous hardware, all telemetry in the data/ directory has been mapped to a unified Setpoint-Effort-Feedback-Context (S-E-F-C) schema.

Rather than dealing with vendor-specific labels, models can train on standardized representations:

• Setpoint (setpoint_*): The commanded states (position, velocity, acceleration, target torque).
• Effort (effort_*): The hardware's physical exertion (current, voltage, force, torque).
• Feedback (feedback_*): The measured physical state (actual position, velocity).
• Context (ctx_*): Metadata and discrete states (anomaly labels, task phases, hardware modes, execution times).

Note: Specialized screwdriver telemetry (e.g., tightening states, measured shank torque) is fully integrated into the tool-specific effort and context columns.

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Sim2Real Gap Artifacts (UR3 Pick-and-Place)

In addition to the raw structured data, this repository provides artifacts explicitly generated for kinematic and effort alignment benchmarking between real UR3 executions and Isaac Sim 4.5.0.

Episode Pairing and Chronology

Real and sim episodes within the artifacts/ folder are strictly paired by filename (e.g., real_csv/<uuid>.csv ↔ sim_csv/<uuid>.csv).

Chronological payload buckets were assigned using boundary episodes to validate dynamic alignment:

• 0.6 kg: Start → 0ab540a6-7210-4531-b2ed-6a04c7b90ff1
• 0.3 kg: After that → 29312353-3555-4eba-b2fb-3e2495e89782
• 1.2 kg: After that → 640c65a7-2aee-4b58-94de-334f37832e14

Gap Metrics

For each matched real/sim pair, the provided reports track:

• Joint RMSE (deg): Error across individual joints.
• TCP position RMSE (mm) / EE L2 RMS (mm): Pooled and step-wise Euclidean position errors.
• TCP rotvec RMSE (mrad): Rotational orientation gaps.
• W1 effort (A): Wasserstein-1 distance on joint_current_* to proxy effort alignment.

(Alignment is achieved by sorting by time, splitting by task phase, and linearly resampling timeframes to [0, 1] prior to calculating distances).

Scope and Limits

The Sim2Real artifact package is strictly designed to support kinematic agreement analysis and effort-proxy comparisons. It is explicitly out of scope for contact-accurate dynamics validation, visual-domain realism, or claims of identical actuator torque physics.