observation.state list | observation.velocity list | action list | source.action_time_s float32 | metadata.failure bool | metadata.route.active_subgoal int64 | metadata.subgoal_switch bool | metadata.arm_recording_key string | metadata.arm_recording_key_present bool | metadata.arming_key string | metadata.arming_key_present bool | metadata.camera_names string | metadata.can_interface_left string | metadata.can_interface_right string | metadata.completed_subgoal_count int64 | metadata.compress bool | metadata.config_path string | metadata.config_sha256 string | metadata.decision_key_map string | metadata.double_arm bool | metadata.error_recovery bool | metadata.error_recovery_probability float32 | metadata.failure_event_count int64 | metadata.fps float32 | metadata.labeling_snapshot_present bool | metadata.labeling_snapshot_present_present bool | metadata.partial_subgoal_start bool | metadata.pedal_key_map string | metadata.phase_count int64 | metadata.phase_labels string | metadata.recording_stop_event_present bool | metadata.robot_type string | metadata.route.completed_subgoal_count int64 | metadata.route.error_recovery bool | metadata.route.obstacle_board_xy_cm array 2D | metadata.route.obstacle_board_xy_cm_length int64 | metadata.route.obstacle_direction_board_xy array 2D | metadata.route.obstacle_direction_board_xy_length int64 | metadata.route.obstacle_theta_rad list | metadata.route.obstacle_theta_rad_length int64 | metadata.route.phase_labels string | metadata.route.phase_start_indices list | metadata.route.phase_start_indices_length int64 | metadata.route_label_schema_version int64 | metadata.route_schema_version int64 | metadata.sim bool | metadata.single_arm bool | metadata.start_gripper string | metadata.start_gripper_present bool | metadata.start_position_enabled bool | metadata.start_position_move_duration float32 | metadata.start_position_path string | metadata.subgoal_switch_event_count int64 | metadata.task_name string | metadata.task_variant string | metadata.use_camera_server bool | prompt string | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | metadata.route.selected_connector_index int64 | metadata.route.overlay_source_xy_224 list | metadata.route.overlay_direction_xy_224 list | metadata.route.overlay_theta_image_rad float32 | metadata.route.overlay_visible bool | metadata.route.overlay_style_version int64 | metadata.route.overlay_arrow_length_px float32 | metadata.route.overlay_arrow_width_px float32 | metadata.route.overlay_arrow_head_px float32 | metadata.route.overlay_dot_radius_px float32 | metadata.route.phase_label string | metadata.route.text_subtask string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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2.094395160675049
] | 3 | ["place router 1", "route rope through router 1", "place router 2", "route rope through router 2"] | [
-1,
-1,
-1,
0
] | 4 | 1 | 1 | false | false | closed | true | true | 3 | calibration/start_position.npz | 0 | route | rope_route_two_routers | true | route the cable through the selected connector | 0.42 | 42 | 0 | 42 | 1 | 1 | [
133.1750030517578,
114.2750015258789
] | [
0.9950371980667114,
-0.09950385242700577
] | -0.099669 | true | 1 | 14 | 2 | 4 | 2.4 | route rope through router 2 | route the cable through the selected connector |
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Route Red-Yellow Vector Subtasks for pi0.5
This is a LeRobot v2.1 transformation of DistantSky/route at commit aced1e96f6b8bf98ffaa0754407636e82442b084.
The dataset contains 212 real-robot episodes, 135699 frames, three cameras, and 14-dimensional actions at 100 Hz.
Conditioning
Only observation.images.video_overhead is modified. The left and right videos are byte-identical to the source dataset.
The overhead image receives one fixed selected-connector pose glyph per frame:
- yellow position dot: RGB (255, 230, 0), radius 2.4 px
- red direction arrow: RGB (255, 24, 28), length 14.0 px, width 2.0 px, head 4.0 px
- 4x antialiasing followed by Lanczos downsampling
- no text rendered into image pixels
The frame-level prompt and task_index fields are:
- task 0:
place the connector on the selected vector - task 1:
route the cable through the selected connector
Phases 0 and 1 select connector 1; phases 2 and 3 select connector 2. The vector remains visible during both placement and routing, then switches when connector 2 placement begins. Partial source episodes retain the vector and prompt for their recorded active phase.
Audit fields
The Parquet files retain the original timing metadata and add:
metadata.route.selected_connector_indexmetadata.route.overlay_source_xy_224metadata.route.overlay_direction_xy_224metadata.route.overlay_theta_image_radmetadata.route.overlay_visiblemetadata.route.phase_labelmetadata.route.text_subtask- overlay style and size constants
The target image point is taken directly from the collected router label. Direction is projected from the board-coordinate unit vector through an episode-specific planar homography fitted from the three obstacle and two router correspondences.
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