README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - lerobot
  - real
  - arx
  - pi05
  - visual-goal-conditioning
configs:
  - config_name: default
    data_files: data/*/*.parquet

Route Red-Yellow Vector Subtasks for pi0.5

This is a LeRobot v2.1 transformation of DistantSky/route at commit aced1e96f6b8bf98ffaa0754407636e82442b084.

The dataset contains 212 real-robot episodes, 135699 frames, three cameras, and 14-dimensional actions at 100 Hz.

Conditioning

Only observation.images.video_overhead is modified. The left and right videos are byte-identical to the source dataset.

The overhead image receives one fixed selected-connector pose glyph per frame:

• yellow position dot: RGB (255, 230, 0), radius 2.4 px
• red direction arrow: RGB (255, 24, 28), length 14.0 px, width 2.0 px, head 4.0 px
• 4x antialiasing followed by Lanczos downsampling
• no text rendered into image pixels

The frame-level prompt and task_index fields are:

• task 0: place the connector on the selected vector
• task 1: route the cable through the selected connector

Phases 0 and 1 select connector 1; phases 2 and 3 select connector 2. The vector remains visible during both placement and routing, then switches when connector 2 placement begins. Partial source episodes retain the vector and prompt for their recorded active phase.

Audit fields

The Parquet files retain the original timing metadata and add:

• metadata.route.selected_connector_index
• metadata.route.overlay_source_xy_224
• metadata.route.overlay_direction_xy_224
• metadata.route.overlay_theta_image_rad
• metadata.route.overlay_visible
• metadata.route.phase_label
• metadata.route.text_subtask
• overlay style and size constants

The target image point is taken directly from the collected router label. Direction is projected from the board-coordinate unit vector through an episode-specific planar homography fitted from the three obstacle and two router correspondences.