CLARU
yosubshin2026apache-2.0

AIC Cable Insertion Dataset

Teleoperated demonstrations of cable insertion tasks (SFP modules and SC connectors) collected from a UR5e robot in Gazebo simulation, converted to LeRobot v2.1 format for training Vision-Language-Action policies.

Downloads43
Episodes5

Why This Matters for Physical AI

This dataset enables training of imitation learning and vision-language-action models on contact-rich, precision manipulation tasks with language conditioning, advancing sim-to-real transfer capabilities for industrial cable insertion operations.

Technical Profile

Modalities
rgbproprioceptionforce_torquelanguage
Robot Embodiments
UR5e
Action Space
end_effector_velocity
Environment
simulation
Task Types
cable_insertionmanipulation
Episodes
5
Data Format
LeRobot
Annotation Types
language_instructions
License
apache-2.0
Part of the AIC Cable Insertion Dataset family

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