ajaysri/pi07_cable_holder_group_v1

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.