{
  "id": "signiq-policy-rollouts-buds",
  "captured_at": "2025-05-18T13:11:42+09:00",
  "facility": "SignIQ Lab \u2014 Tokyo facility (policy evaluation cell)",
  "robot": {
    "name": "Single-arm Franka-class (24-D state, 7-D action)",
    "embodiment": "single-arm-policy",
    "control_mode": "joint_target",
    "control_hz": 5.0,
    "action_dim": 7,
    "state_dim": 24,
    "cameras": [
      "image",
      "wrist-image"
    ]
  },
  "task": {
    "instruction": "Take the lid off the pot, put the pot on the plate, and use the tool to push to pot to the front of the table.",
    "subtasks": [
      {
        "index": 0,
        "name": "01 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 0,
        "end": 16
      },
      {
        "index": 1,
        "name": "02 \u00b7 in-contact motion",
        "description": "High-energy contact-rich motion (peak joint travel)",
        "start": 16,
        "end": 34
      },
      {
        "index": 2,
        "name": "03 \u00b7 fast retract",
        "description": "Fast retract / pose change between subtasks",
        "start": 34,
        "end": 57
      },
      {
        "index": 3,
        "name": "04 \u00b7 approach",
        "description": "Smooth approach toward target \u2014 joint velocities ramping up",
        "start": 57,
        "end": 74
      },
      {
        "index": 4,
        "name": "05 \u00b7 pose hold",
        "description": "Low-energy pose hold (operator stabilizing the arm)",
        "start": 74,
        "end": 90
      }
    ],
    "outcome": "success"
  },
  "schema": {
    "observation.state": {
      "shape": [
        24
      ],
      "names": [
        "motor_0",
        "motor_1",
        "motor_2",
        "motor_3",
        "motor_4",
        "motor_5",
        "motor_6",
        "motor_7",
        "motor_8",
        "motor_9",
        "motor_10",
        "motor_11",
        "motor_12",
        "motor_13",
        "motor_14",
        "motor_15",
        "motor_16",
        "motor_17",
        "motor_18",
        "motor_19",
        "motor_20",
        "motor_21",
        "motor_22",
        "motor_23"
      ]
    },
    "action": {
      "shape": [
        7
      ],
      "kind": "joint_target"
    },
    "trajectory_projection": {
      "kind": "joint-state path",
      "left": {
        "label": "base joints",
        "indices": [
          0,
          3
        ]
      },
      "right": {
        "label": "wrist joints",
        "indices": [
          3,
          6
        ]
      }
    }
  },
  "attribution": {
    "demo_data_origin": "lerobot/austin_buds_dataset",
    "license": "MIT",
    "note": "Demo data illustrating policy-rollout capture (per-step reward + outcome labels). SignIQ commercial deployments capture rollouts from your own policy in our cell."
  }
}