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Datasets:
pranavsaroha
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aic-cheatcode-ds-v1

Tasks:
Robotics
Modalities:
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Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
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v1 full sweep: 60 configs (45 standard + 15 SC-only), 166 episodes, 46-dim state with force/contact/joint vel/eff, 7-dim pose action. CheatCode demos with narrowed SC translations (Path B), grasp pose noise within spec, full +/-10 deg NIC yaw range, randomized Zone 3/4 layout.

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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - aic
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+ - ur5e
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+ - cable-insertion
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+ size_categories:
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+ - 1K<n<10K
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+ configs:
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+ - config_name: default
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+ data_files:
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+ - split: train
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+ path: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+ Expert demonstrations of optical cable insertion using the UR5e robot in the
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+ [AI for Industry Challenge](https://aiforindustrychallenge.com) simulation.
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+ Demonstrations were generated using the CheatCode policy (ground-truth TF
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+ transforms). v1 dataset adds force/torque sensor data, joint velocities/efforts,
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+ contact flag, structured task metadata, and uses the commanded pose target as
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+ the action signal.
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+
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+ - **Episodes:** 166
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+ - **Frames:** 74328
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+ - **FPS:** 20
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+ - **Cameras:** left, center, right (256x288, AV1)
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+ - **Action space:** absolute Cartesian pose target = [pose.x, pose.y, pose.z, pose.qx, pose.qy, pose.qz, pose.qw]
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+ - **State space (46 dims):**
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+ - TCP pose (7): position xyz + quaternion xyzw
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+ - TCP velocity (6): linear xyz + angular xyz
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+ - Joint positions (7)
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+ - Joint velocities (7)
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+ - Joint efforts (7)
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+ - Wrist wrench (6): force xyz + torque xyz (post-tare)
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+ - F/T tare offset (6): the bias removed by the tare service
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+ - **Per-frame off-limit contact flag (1 dim):** 1.0 if the gripper or arm
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+ contacted an off-limit zone (enclosure walls, task board frame) within ±25ms
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+ of the frame, else 0.0.
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+ - **Episode metadata** includes structured task fields: `cable_type`,
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+ `plug_type`, `port_type`, `port_name`, `target_module_name`, `time_limit`,
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+ and the original trial key.
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+
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+ ## Robot
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+
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+ - Universal Robots UR5e arm
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+ - Robotiq Hand-E gripper
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+ - ATI AXIA80-M20 6-axis force/torque sensor at the wrist
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+ - 3 Basler acA2440-20gc wrist cameras with Edmunds 58-000 lenses
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+ (1152x1024 native, downsampled to 256x288 for training)
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+
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+ ## Controller
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+
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+ The policy outputs 7-dim absolute pose targets. At submission time, these are
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+ wrapped in MotionUpdate messages with constant impedance:
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+
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+ - `target_stiffness` diag: [90, 90, 90, 50, 50, 50]
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+ - `target_damping` diag: [50, 50, 50, 20, 20, 20]
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+ - `wrench_feedback_gains_at_tip`: [0.5] * 6
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+ - `feedforward_wrench_at_tip`: 0
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+ - `trajectory_generation_mode`: MODE_POSITION
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+
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+ These constants match what CheatCode used during data collection (verified by
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+ inspecting recorded MotionUpdate messages — all values constant across all
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+ 1590 messages of a representative trial).
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+
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+ ## Source
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+
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+ - Source runs: 60
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+ - Generator script: `~/generate_aic_configs.py`
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+ - Collection script: `~/collect_all.sh`
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+ - Bag-to-LeRobot converter: `~/bag_to_lerobot.py`
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+ - AIC toolkit: https://github.com/intrinsic-dev/aic
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