| --- |
| 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](https://github.com/huggingface/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: |
|
|
| 1. **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) |
| 2. **Kinematic State (TCP Offset):** |
| * `observation.tcp_offset.linear`: [x, y, z] values. |
| * `observation.tcp_offset.angular`: [x, y, z] values. |
| 3. **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: |
| |
| 1. **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: |
|
|
| ```json |
| { |
| "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. |
