---
license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
- real
- arx
- pi05
- visual-goal-conditioning
- subtask-episodes
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# Route Red-Yellow Vector Split-Subtask Example

This is a LeRobot v2.1 example derived from
[ajaysri/route_red_yellow_vector_subtasks_pi05](https://huggingface.co/datasets/ajaysri/route_red_yellow_vector_subtasks_pi05).
Source episode(s) 2 are split into one output episode per maximal
contiguous run of `metadata.route.active_subgoal`.

The example has 4 output episodes and 948 frames.
All three videos are cut on the same frame boundaries as the Parquet data and
re-encoded as H.264 at 100 Hz.

## Why the split count is inferred

The complete 212-episode source dataset contains suffixes of the four-phase
route task:

- four segments: 52 episodes
- three segments: 51 episodes
- two segments: 53 episodes
- one segment: 56 episodes

No repeated or backward transitions were found. The builder therefore detects
boundaries from the frame labels instead of assuming four subtasks.

## Provenance

Every frame includes:

- `metadata.split.source_episode_index`
- `metadata.split.source_frame_index`
- `metadata.split.source_start_frame`
- `metadata.split.source_end_frame_exclusive`
- `metadata.split.segment_ordinal`

The original visual conditioning, prompts, actions, states, and route metadata
are retained. `frame_index`, `episode_index`, `index`, and `timestamp` are
reindexed for the split dataset.