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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0.02851182408630848
] | 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 | 28 | 4 | 8 | 5 |
[
-1.0736627578735352,
1.1301212310791016,
0.6906614303588867,
-0.3126192092895508,
0.20427989959716797,
0.2794303894042969,
0.022495819255709648,
0.7528419494628906,
0.837529182434082,
0.7047758102416992,
-0.8974208831787109,
-0.13714027404785156,
-0.3931102752685547,
0.028505710884928703
] | [
-2.0329666137695312,
5.153846740722656,
2.120880126953125,
0.6923065185546875,
-0.20878982543945312,
-0.0549468994140625,
0.05582957714796066,
-0.16483688354492188,
-0.1868133544921875,
-0.0549468994140625,
-0.25274658203125,
0.03296661376953125,
-0.0549468994140625,
-0.0008806221885606647... | [
-1.0736627578735352,
1.1301212310791016,
0.6906614303588867,
-0.3126192092895508,
0.20427989959716797,
0.2794303894042969,
0.022495819255709648,
0.7528419494628906,
0.837529182434082,
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 | 28 | 4 | 8 | 5 |
End of preview. Expand in Data Studio
Route + Steering Placement 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 route portion has 495 split episodes and 128742 frames. The steering supplement contributes 202 episodes and 50099 frames without resampling or balancing.
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.
All four streams are encoded at 448x448 from the cameras' raw 1280x800 JPEG frames stored in the source HDF5 episodes. Each raw frame is aspect-preservingly downsampled to 448x280 with Lanczos filtering, then padded with 84 black pixels above and below. No frame is upsampled, cropped, or stretched. The vector stream differs from the raw overhead stream only by the synthetic goal glyph.
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. The
metadata.vector.source_xy_224 field remains in the historical 224-space
letterbox coordinate system for backward compatibility; because the new output
uses the same square letterbox geometry at twice the linear resolution, its
coordinates map exactly by a factor of two. Rendered glyph sizes are reported
in 448x448 output pixels.
Tasks
place the connector on the selected vectorroute the cable through the selected connectormove the connector to the yellow dot and match the red arrow orientation
No class balancing or steering upsampling is applied.
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