Urbann, OliverOliverUrbannEßer, JulianJulianEßerKleingarn, DianaDianaKleingarnMoos, ArneArneMoosBrämer, DominikDominikBrämerBrömmel, PietPietBrömmelBach, NicolasNicolasBachJestel, ChristianChristianJestelLarisch, AaronAaronLarischKirchheim, AliceAliceKirchheim2025-10-062025-10-062025https://publica.fraunhofer.de/handle/publica/49696910.1109/ICRA55743.2025.111286462-s2.0-105016691731In this paper, we present a comprehensive dataset comprising 37.9 hours of sensor data collected from humanoid robots, including 18.3 hours of walking and 2,519 recorded falls. This extensive dataset is a valuable resource for various robotics and machine learning applications. Leveraging this data, we propose RePro-TCN, a Temporal Convolutional Network (TCN) enhanced with two novel extensions: Relaxed Loss Formulation and Progressive Forecasting. Predicting falls is a critical capability in humanoid robotics for implementing countermeasures such as lunging or stopping the walk. Thanks to the new dataset, we train RePro-TCN and demonstrate its superiority over previous approaches under real-world conditions that were previously unattainable.enfalseconference paper