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README.md

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+---
+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]
+```

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meta/info.json

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+{
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+  "robot_type": "ur5e_aic",
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+  "total_frames": 1147,
+  "total_tasks": 1,
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+  "data_files_size_in_mb": 0.2,
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+  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "features": {
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+        "tcp_pose.position.y",
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+        "tcp_error.5",
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