| --- |
| 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](https://huggingface.co/datasets/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. |
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|
