Search is not available for this dataset
frame_index int64 0 579 | episode_index int64 0 474 | timestamp float64 0 29 | task_index int64 0 9 | insertion_detected bool 2
classes | observation.state.joint_pos listlengths 6 6 | observation.state.ee_pos listlengths 3 3 | observation.state.ee_quat listlengths 4 4 | observation.state.gripper_pos listlengths 2 2 | observation.state.wrench listlengths 6 6 | action listlengths 7 7 | observation.state.joint_vel listlengths 6 6 |
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End of preview. Expand in Data Studio
AIC Ground Truth SFP All Trimmed v3
Expert demonstration dataset for SFP cable insertion on the Autonomous Industrial Cable-routing (AIC) challenge.
What changed in v3
Builds on v2 (which added orientation deltas in actions). v3 adds:
observation.state.joint_vel(6D): Joint velocities computed from finite differences of consecutivejoint_posat 20Hz:vel[t] = (pos[t] - pos[t-1]) * FPS
This enables training with use_joint_state=True in ForceVLA, which adds a joint_in_proj layer that processes the 12D joint state (joint_pos + joint_vel) as an extra context token for the action expert.
Version History
| Version | Dataset | Changes |
|---|---|---|
| v1 | aic_gt_sfp_all_trimmed | Original: action[3:5] = zeros |
| v2 | aic_gt_sfp_all_trimmed_v2 | Orientation deltas in action[3:5] |
| v3 | This dataset | + joint_vel from finite differences |
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.joint_vel |
(6,) | Joint velocities (rad/s, finite diff) |
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) |
ForceVLA State Vector (25D with joints)
When use_joint_state=True and include_joints=True:
Index Field Source
0-2 ee_pos observation.state.ee_pos
3-5 axis_angle quaternion_to_axis_angle(ee_quat)
6 gripper mean(gripper_pos)
7-12 wrench observation.state.wrench
13-18 joint_pos observation.state.joint_pos
19-24 joint_vel observation.state.joint_vel
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).
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("tshiamor/aic_gt_sfp_all_trimmed_v3")
ForceVLA Training
cd ~/ForceVLA
python scripts/compute_norm_stats.py --config-name=forcevla_sfp_all_trimmed_v3
python scripts/train.py forcevla_sfp_all_trimmed_v3 --exp-name=v3 --batch_size 4 --num_train_steps 50000
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