Recording & Data
How many demonstrations constitute a sufficient number
This depends on the policy selected. ACT generally requires dozens of iterations to achieve stability; GR00T N1.5 fine-tunes on a pretrained base and requires only a small number.
The default value of the "Number of episodes" field on the recording page is an initial value rather than a recommendation. Recording may also be performed across multiple sessions into the same directory and merged subsequently.
See Policy Selection.
Where fewer demonstrations are recorded, may the quality requirement be relaxed
No. As the number of demonstrations decreases, the weight of each individual demonstration within the dataset increases correspondingly: where one of five demonstrations exhibits hesitation, twenty percent of the data is of impaired quality.
Deficient episodes were identified after recording; must the entire batch be re-recorded
No. Preview each episode at Data Tools → Dataset Management, select the deficient episodes, and execute "Delete selected". See Dataset Management.
May physically recorded and simulation-generated data be trained together
Yes. Both are in the LeRobot standard format and may be merged into a single dataset in dataset management. This is also the principal application of the simulation route: simulation data establishes the data volume, and physical data supplies realism.
Does use of the simulation environment remove the need to purchase a robotic arm
No. A Leader Arm remains necessary, as the demonstration motion must still be performed by the operator using a physical Leader Arm. What the simulation environment dispenses with is the Follower Arm and physical cameras — the imagery in simulation data is rendered by the simulation environment.
This condition should be confirmed at the procurement stage. See Simulation & SDG Generation.
Are cameras that are not enabled recorded
No. Cameras that are not enabled are not recorded into the dataset. This is a common omission identified only after a complete batch has been recorded, and the enabled state should be confirmed at Data Tools → Hardware Settings → Camera Management prior to recording.