ajaysri/route_subtasks_dual_overhead_pi05

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_left and observation.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 vector
• route the cable through the selected connector

No class balancing or steering upsampling is applied.