Collecting

A collection session runs trials of one task, one after another: the robot plans and executes its phases, you teleoperate the human ones, and each trial is labeled and filed. This page covers what you can do at each step.

tandem collect                            # the active profile, in the terminal
tandem collect my-task -n 20              # another profile; stop after 20 trials
tandem collect --task "stack the cups"    # a different task for this session
tandem collect --no-execute               # plan only; the arm never moves
tandem collect --web                      # drive the session from the browser

The session starts the planner once, then repeats: task prompt, trial, label prompt. The footer shows which keys work at each step.

state	keys
task prompt	`↵` repeat the task, `n` type a new one
planning or executing	`p` preempt, `t` take the arm (if teleop is ready)
you have the arm	`r` return control
human phase	`t` take the arm or run the executor (if ready), `d` I did it (if allowed), `a` give up (aborts)
label prompt	`s` or `y` success, `f` or `n` failure
any	`q` or Ctrl-C finish

Preempt does not stop motion. p stops further plan steps, but the motion segment already sent still finishes (TiPToP has no cooperative stop). Only the E-stop stops the arm at once.

Preempt (p) files the attempt's legs as aborted. The session stays warm for the next trial.

Hand-off (t outside a human phase) gives you the arm through teleop at the next plan-step boundary. When you press r, TANDEM perceives again and replans the phase from where you left the arm, without homing. The legs merge into one episode.

Human phase. The screen says what to do and what a fresh camera image will then check.

If the check fails, the screen lists what is missing and you get hitl.verify_retries more tries.
d is refused while recording, unless hitl.allow_unrecorded_human_phase is true.
If you don't return control within an hour, TANDEM ends the leg and takes the arm back.

Label. You are asked for one only if the plan ran to the end, or if a check failed under hitl.on_verification_failure: label. Settled trials are filed without a label, with the reason. --episodes N counts labeled trials and part-way failures, but not excluded or aborted ones.

Finish (q) stops at the next step boundary and parks the arm without opening the gripper.

A trial still running is filed as aborted.
A trial waiting at the label prompt stays unmerged in eval/. The session prints how to file it: tandem traj merge <trajectory id> --status success, or tandem traj relabel for a one-leg trial.