Capturing Human Demonstrations for Imitation Learning
Once you have a working teleoperation rig, the next challenge is turning raw teleop sessions into a clean, well-structured demonstration dataset. This is where most imitation learning projects quietly succeed or fail — a policy trained on inconsistent or noisy demonstrations will faithfully reproduce that inconsistency.
What counts as a "demonstration"
A demonstration is a single, complete episode of a task: from a defined start state to a defined end state (success, failure, or reset), recorded as a synchronized sequence of observations and actions.
Demonstration = {
