---
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.