02
Episode Structuring for Robot Learning
“Our teleop data is hours of video with no structure a policy can learn from.”
- What we do
- Teleop and egocentric video turned into training-ready episodes: subtasks, contact events, grasp phases, hand and object state, and language instructions at several levels.
- What you receive
- Structured episodes in JSON, CSV or LeRobot-compatible formats, aligned to your timestamps.
Interactive sample · compare raw and structured footage live, click a Hold
20 objects · 2,711 instances · 23 contacts · 12 captions
Raw
Structured by Annoroid
00:00.0
Now · action
Yellow watermelon wedges are cut into cubes on the cutting board.
Now · hands in contact
L · knife
Instruction level
Subtask
Contacttop L · bottom R
Grasptop L · bottom R
Instruction
Hold · high-level
“Make a watermelon, cucumber and basil salad”
Low-level
Click a Hold in the Grasp track
Click a green “Hold” in the Grasp track to expand it into instructions. Footage: USDA (public domain). Labels: Annoroid.