observation.state list | observation.velocity list | action list | source.action_time_s float32 | prompt string | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | metadata.source_dataset string | metadata.source_episode_index int64 | metadata.source_frame_index int64 | metadata.source_start_frame int64 | metadata.source_end_frame_exclusive int64 | metadata.subtask_index int64 | metadata.subtask_label string | metadata.route.active_subgoal int64 | metadata.route.selected_connector_index int64 | metadata.vector.source_xy_224 list | metadata.vector.direction_xy_224 list | metadata.vector.theta_image_rad float32 | metadata.vector.visible bool | metadata.vector.style_name string | metadata.vector.arrow_length_px float32 | metadata.vector.arrow_width_px float32 | metadata.vector.arrow_head_px float32 | metadata.vector.dot_radius_px float32 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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... | 0.73 | route the cable through the selected connector | 0.73 | 73 | 0 | 73 | 1 | route | 0 | 73 | 0 | 319 | 3 | route rope through router 2 | 3 | 1 | [
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0.02851182408630848
] | 0.98 | route the cable through the selected connector | 0.98 | 98 | 0 | 98 | 1 | route | 0 | 98 | 0 | 319 | 3 | route rope through router 2 | 3 | 1 | [
133.1750030517578,
114.2750015258789
] | [
0.9950371980667114,
-0.09950385242700577
] | -0.099669 | true | route_red_yellow_v1 | 14 | 2 | 4 | 2.4 |
[
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0.7047758102416992,
-0.8974208831787109,
-0.13714027404785156,
-0.3931102752685547,
0.028505710884928703
] | 0.99 | route the cable through the selected connector | 0.99 | 99 | 0 | 99 | 1 | route | 0 | 99 | 0 | 319 | 3 | route rope through router 2 | 3 | 1 | [
133.1750030517578,
114.2750015258789
] | [
0.9950371980667114,
-0.09950385242700577
] | -0.099669 | true | route_red_yellow_v1 | 14 | 2 | 4 | 2.4 |
End of preview. Expand in Data Studio
Route Subtask Episodes with Dual Overhead Views
This is a LeRobot v2.1 training dataset at 100 Hz. Every output episode contains
exactly one semantic subtask. Route boundaries are inferred from maximal
contiguous runs of metadata.route.active_subgoal; partial source episodes are
kept as the suffix subtasks they contain.
The dataset has 523 split route episodes and 135699 frames.
Camera streams
observation.images.video_overhead_vector: overhead image with the fixed yellow-dot/red-arrow goal.observation.images.video_overhead_raw: the same overhead frame without the synthetic vector.observation.images.video_leftandobservation.images.video_right: raw side views.
The raw/vector overhead streams are frame-aligned with each other, the robot
state, and the action. Route and steering use their original visual styles,
recorded in metadata.vector.style_name and the per-frame size fields.
Tasks
place the connector on the selected vectorroute the cable through the selected connector
No class balancing or steering upsampling is applied.
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