tshiamor/forcevla-sfp-all-trimmed-v2
Robotics • Updated
Search is not available for this dataset
frame_index int64 | episode_index int64 | timestamp float64 | task_index int64 | insertion_detected bool | observation.state.joint_pos list | observation.state.ee_pos list | observation.state.ee_quat list | observation.state.gripper_pos list | observation.state.wrench list | action list |
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End of preview. Expand in Data Studio
AIC Ground Truth SFP All Trimmed v2
Expert demonstration dataset for SFP cable insertion on the Autonomous Industrial Cable-routing (AIC) challenge.
What changed in v2
v1 (aic_gt_sfp_all_trimmed) had action[3:5] hardcoded to zeros — orientation changes performed by the CheatCode controller were not captured in the action labels.
v2 recomputes action[3:5] as axis-angle rotation deltas (rotation vectors) from consecutive observation.state.ee_quat values:
r_delta = (R_{t-1}^{-1} * R_t).as_rotvec()
This allows models to learn and reproduce the ~21 degree pitch alignment needed for insertion.
Dataset Details
| Field | Value |
|---|---|
| Episodes | 475 |
| Frames | 275,500 |
| Tasks | 10 (SFP ports across NIC 0-4) |
| FPS | 20 Hz |
| Robot | UR5e + Robotiq Hand-E |
| Format | LeRobot v2.1 |
| Cameras | 3 (center, left, right) at 640x480 |
Action Space (7D)
| Index | Field | Description |
|---|---|---|
| 0-2 | dx, dy, dz |
TCP position delta (meters) |
| 3-5 | drx, dry, drz |
TCP orientation delta as rotation vector (radians) |
| 6 | gripper |
Gripper position (always 0 for SFP) |
State Space (stored in parquet)
| Field | Shape | Description |
|---|---|---|
observation.state.joint_pos |
(6,) | Joint positions (radians) |
observation.state.ee_pos |
(3,) | TCP position xyz |
observation.state.ee_quat |
(4,) | TCP orientation quaternion (xyzw) |
observation.state.gripper_pos |
(2,) | Gripper finger positions |
observation.state.wrench |
(6,) | Force/torque at wrist (Fx,Fy,Fz,Tx,Ty,Tz) |
Collection
Collected in Gazebo simulation using the CheatCode ground-truth controller, which uses privileged port TF information to compute insertion trajectories. Each episode follows:
- Phase 1 (frames 0-100): Slerp orientation to align with port + translate to hover position
- Phase 2 (frames 100-480): Descend into port at 0.5mm/step
- Phase 3 (frames 480-580): Post-insertion stabilization
Episodes with videos > 3.3 MB were excluded (indicating longer/struggling insertions).
Targets
| Target | Episodes |
|---|---|
| sfp_nic0_port0 | ~48 |
| sfp_nic0_port1 | ~48 |
| sfp_nic1_port0 | ~48 |
| sfp_nic1_port1 | ~48 |
| sfp_nic2_port0 | ~48 |
| sfp_nic2_port1 | ~48 |
| sfp_nic3_port0 | ~48 |
| sfp_nic3_port1 | ~43 |
| sfp_nic4_port0 | ~48 |
| sfp_nic4_port1 | ~48 |
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("tshiamor/aic_gt_sfp_all_trimmed_v2")
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