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Holder-level cable routing
140 original robot recordings, 420 holder-level episodes, 335,897 frames at 100 Hz. Native LeRobot v3 format.
Instruction: route the cable in this holder.
Each segment includes placement, cable routing, and reaching for and grasping the next holder. The next-holder grasp frame ends the preceding segment, inclusively. The first segment includes the initial grasp; the last ends with the recording. All source actions and physical camera videos are preserved.
Four camera streams: clean overhead, left wrist, right wrist, and overhead with a constant-length vector marking the current holder. The vector changes only when the segment changes. Training samples causal past overhead goals within the segment.
All episodes are training data; no held-out evaluation claim. Normalization uses this version's recordings only, with action-horizon 100 padding reflected in action statistics.
Exact recording membership and seed: model_metadata/dataset_subset.json. Segment boundaries: annotations/subtasks.json. Reviewed grasp selections: annotations/grasp_selections.json.
Dataset revision: 372ddf3d93e94e85efb81a3fca27c09410d064e6495028728ee2f3f7c7fefcb6.
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