---
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]
```