metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- AIC
configs:
- config_name: default
data_files: data/*/*.parquet
AIC Robotics Dataset
This dataset was created using LeRobot and is designed for training robotics imitation learning models on SFP and SC cable plugging tasks on a modular task board.
Dataset Overview
- Robot Type: AIC
- Total Episodes: 80
- Total Frames: 22,090
- Total Tasks: 12
- FPS: 20
Training Information: Input and Output
To train a model (e.g., using a policy head) with this dataset, the following inputs and outputs should be used:
📥 Inputs (Observations)
The model should take the following as input at each timestep:
- Visual Data (RGB Videos):
observation.images.left_camera: (256, 288, 3)observation.images.center_camera: (256, 288, 3)observation.images.right_camera: (256, 288, 3)
- Kinematic State (TCP Offset):
observation.tcp_offset.linear: [x, y, z] values.observation.tcp_offset.angular: [x, y, z] values.
- Task Conditionals (One-hot encoded):
plug_type: [is_sfp, is_sc]nic_card: [is_0, is_1, is_2, is_3, is_4]sfp_port: [is_0, is_1]sc_rail: [is_0, is_1]sc_port: [is_0, is_1, is_2, is_3, is_4]
📤 Outputs (Actions)
The model should predict the following values for the next step:
- TCP Offset Delta (Actions):
action.tcp_offset.linear: Target [x, y, z] offset.action.tcp_offset.angular: Target [x, y, z] offset.
Dataset Structure
The core features as defined in meta/info.json are:
{
"observation.images.left_camera": "video (256, 288, 3)",
"observation.images.center_camera": "video (256, 288, 3)",
"observation.images.right_camera": "video (256, 288, 3)",
"observation.tcp_offset.linear.x/y/z": "float32",
"observation.tcp_offset.angular.x/y/z": "float32",
"observation.task_id.plug_type": "float32[2]",
"observation.task_id.nic_card": "float32[5]",
"observation.task_id.sfp_port": "float32[2]",
"observation.task_id.sc_rail": "float32[2]",
"observation.task_id.sc_port": "float32[5]",
"action.tcp_offset.linear.x/y/z": "float32",
"action.tcp_offset.angular.x/y/z": "float32"
}
Dataset Files
data/: Contains episode data in Parquet format.meta/: Contains dataset information, statistics, and task definitions.videos/: Contains the raw video streams for each camera view.