Reviewing and exporting

Every trial is filed under success/, failure/ or eval/. These commands list, replay and refile them, and export the successes as a LeRobot dataset.

tandem traj list -s success -n 0        # every success, newest first
tandem traj open <id>                   # replay one in its planner's viewer (TiPToP: Rerun)
tandem traj relabel <id> failure        # move it to success, failure or eval

<id> is a trajectory's directory name (a timestamp) or a unique prefix of it. Every traj command except list takes -p/--profile.

Relabeling a settled trial. relabel ... success refuses a trial TANDEM settled. --force overrules it (the web UI asks you to confirm), and hitl.json records it as overruled. This is the only way to export an excluded trial.

Merging takes the trial's trajectory_id from _meta.json, not the timestamp. With no id, it merges every trial that has unmerged legs.

Exporting

tandem export lerobot --repo <owner>/<name>          # writes ~/tandem-data/exports/<owner>/<name>
tandem export lerobot --repo <owner>/<name> --push   # and uploads it
tandem export manifest --out index.json              # a JSON index of the trajectories (default: stdout)

export lerobot writes a LeRobot v3.0 dataset in lerobot/droid_1.0.1's schema, for π₀.₅-DROID fine-tuning. Each run is logged to export.log (logs).

Only success/ is exported. These are skipped, each with its reason:

• settled trials, unless a forced relabel overruled them;
• episodes whose cmd_gripper isn't binary;
• episodes missing an exterior or wrist video;
• episodes whose state arrays don't fit DROID's schema.

What goes into each episode:

• Action: cmd_joint_velocity, clipped to [-1, 1] and never rescaled, plus cmd_gripper. action_joint_velocity (in robot_state.npz) isn't exported.
• Task: the episode's instruction from _meta.json, else the profile's task.prompt.
• Cameras: without external_2, the first exterior video fills both exterior slots.