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Datasets:
ivogeorg
/
aic-cable-insertion-gazebo-v3

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
robotics
manipulation
imitation-learning
cable-insertion
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.images.left_camera
imagewidth (px)
288
288
observation.images.center_camera
imagewidth (px)
288
288
observation.images.right_camera
imagewidth (px)
288
288
observation.state
list
observation.environment_state
list
action
list
timestamp
float32
0
109
frame_index
int64
0
2.18k
episode_index
int64
0
96
index
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99.1k
task_index
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2.85
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0
57
0
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2.9
58
0
58
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
2.95
59
0
59
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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3
60
0
60
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
3.05
61
0
61
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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3.1
62
0
62
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.15
63
0
63
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.2
64
0
64
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.25
65
0
65
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.3
66
0
66
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.35
67
0
67
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.4
68
0
68
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.45
69
0
69
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.5
70
0
70
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.55
71
0
71
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.6
72
0
72
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.65
73
0
73
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.7
74
0
74
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.75
75
0
75
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.8
76
0
76
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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3.85
77
0
77
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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3.9
78
0
78
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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3.95
79
0
79
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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4
80
0
80
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.05
81
0
81
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.1
82
0
82
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.15
83
0
83
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.2
84
0
84
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.25
85
0
85
0
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4.3
86
0
86
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.5
90
0
90
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
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4.55
91
0
91
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.6
92
0
92
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.65
93
0
93
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.7
94
0
94
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.75
95
0
95
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.8
96
0
96
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.85
97
0
97
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
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4.9
98
0
98
0
[ -1.6683788299560547, 0.007300000172108412, -1.3536022901535034, -0.15973776578903198, -1.6903048753738403, 1.5710724592208862 ]
[ 0.3244072198867798, 0.5543805956840515, 19.914051055908203, 0.09488750249147415, -0.15581154823303223, 0.03653165325522423 ]
[ 0, 0, 0, 0, 0, 0, 0 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

AIC Dexterous Cable Insertion — Gazebo (LeRobot v3)

Simulated demonstration dataset for the dexterous cable-insertion task from the AI for Industry Challenge (AIC) 2026, Qualification phase. Recorded in the Gazebo AIC simulator from an autonomous demonstrator policy and packaged in the LeRobot v3 format.

Dataset summary

Format LeRobot v3.0
Robot type aic_controller
Episodes 274
Frames 289,753
FPS 20
Tasks 1 — "Insert the cable connector into the correct target port"
Simulator Gazebo (AIC aic_eval toolkit)

Features

Key dtype shape Description
observation.images.left_camera image 256×288×3 Wrist-mounted left camera
observation.images.center_camera image 256×288×3 Wrist-mounted center camera
observation.images.right_camera image 256×288×3 Wrist-mounted right camera
observation.state float32 (6,) Arm joint positions (6 DoF)
observation.environment_state float32 (6,) Wrist force/torque wrench [fx, fy, fz, tx, ty, tz]
action float32 (7,) TCP pose target [x, y, z, qx, qy, qz, qw]

Plus the standard LeRobot bookkeeping columns (timestamp, frame_index, episode_index, index, task_index). Per-feature normalization statistics (min / max / mean / std / q01…q99) are in meta/stats.json.

How it was generated

  1. An autonomous demonstrator policy drives the arm in the Gazebo AIC simulation (a ground-truth-guided controller — not human teleoperation).
  2. aic_factory_recorder.py records each trial directly to LeRobot v3 parquet — 3 wrist cameras + joint state + wrist wrench + pose action at 20 Hz.
  3. build_streaming_dataset.py replays every accepted trial through LeRobot's own LeRobotDataset writer to produce this canonical dataset.

Only trials passing the AIC reject filter (valid Tier-1, successful insertion event) were retained.

Loading 

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("<user>/<repo-name>")
print(ds.meta.info["total_episodes"], ds.meta.info["total_frames"])

Intended use & limitations

  • Built for imitation learning (e.g. ACT) on the AIC cable-insertion task. It is task- and simulator-specific (Gazebo, the AIC task board) — not a general manipulation dataset.
  • All demonstrations are synthetic / autonomously generated, not human teleoperation.

Provenance

Generated during the AIC 2026 Qualification phase. The generation pipeline (factory scripts, aic_factory_recorder.py, build_streaming_dataset.py) is maintained in the team's challenge repository.
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Number of rows:
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Total file size:
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