ajaysri/route_plus_steer_place_subtasks_dual_overhead_pi05

Route + Steering Placement Subtask Episodes with Dual Overhead Views

This is a LeRobot v2.1 training dataset at 100 Hz. Every output episode contains exactly one semantic subtask. Route boundaries are inferred from maximal contiguous runs of metadata.route.active_subgoal; partial source episodes are kept as the suffix subtasks they contain.

The route portion has 495 split episodes and 128742 frames. The steering supplement contributes 202 episodes and 50099 frames without resampling or balancing.

Camera streams

• —observation.images.video_overhead_vector: overhead image with the fixed yellow-dot/red-arrow goal.
• —observation.images.video_overhead_raw: the same overhead frame without the synthetic vector.
• —observation.images.video_left and observation.images.video_right: raw side views.

All four streams are encoded at 448x448 from the cameras' raw 1280x800 JPEG frames stored in the source HDF5 episodes. Each raw frame is aspect-preservingly downsampled to 448x280 with Lanczos filtering, then padded with 84 black pixels above and below. No frame is upsampled, cropped, or stretched. The vector stream differs from the raw overhead stream only by the synthetic goal glyph.

The raw/vector overhead streams are frame-aligned with each other, the robot state, and the action. Route and steering use their original visual styles, recorded in metadata.vector.style_name and the per-frame size fields. The metadata.vector.source_xy_224 field remains in the historical 224-space letterbox coordinate system for backward compatibility; because the new output uses the same square letterbox geometry at twice the linear resolution, its coordinates map exactly by a factor of two. Rendered glyph sizes are reported in 448x448 output pixels.

Tasks

• —place the connector on the selected vector
• —route the cable through the selected connector
• —move the connector to the yellow dot and match the red arrow orientation

No class balancing or steering upsampling is applied.