sreetz-nv/hg_dagger_vial_placement_correction

HG-DAgger vial placement corrections

Human corrections recorded on a physical SO-101 follower using a leader arm during autonomous vial-to-rack policy rollouts.

• 29 correction segments, 3,544 frames, recorded at 30 Hz (about 118 seconds total).
• Task: Pick up the vial and place it in the rack.
• Wrist and external RGB cameras, each 640 × 480.
• Six joint observation and action channels: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper.
• The five arm joints use degrees; the gripper uses calibrated opening percentage. Recorded actions are absolute joint targets.
• LeRobot dataset format v3.0.

Corrections focus on vial placement. Each episode is a saved human-intervention segment, not a complete autonomous attempt. Episode counts therefore do not measure autonomous success. No success-rate labels are supplied.

The policy being corrected was the sim-teleop plus real-teleop policy.

All episode boundaries, frame indices, timestamps, finite joint values, and both camera video frame counts were checked before publication. Representative camera frames were reviewed visually. No separate test split is provided.