| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| - ur5e | |
| - cable-insertion | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). | |
| ## Dataset Description | |
| Expert demonstrations of optical cable insertion using the UR5e robot in the | |
| [AI for Industry Challenge](https://github.com/intrinsic-dev/aic) simulation. | |
| Demonstrations were generated using the CheatCode policy (ground-truth TF transforms). | |
| - **Episodes:** 3 | |
| - **Frames:** 1147 | |
| - **FPS:** 20 | |
| - **Cameras:** left, center, right (256×288, AV1) | |
| - **Action space:** Cartesian velocity [linear.x/y/z, angular.x/y/z] | |
| - **State space:** TCP pose (7) + TCP velocity (6) + TCP error (6) + joint positions (7) = 26 dims | |
| ## Citation | |
| ```bibtex | |
| [More Information Needed] | |
| ``` | |