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dont move teleop when not pause pressed

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Pepijn
2025-12-31 12:33:40 +01:00
parent f15872293d
commit 0514616c87
3 changed files with 25 additions and 24 deletions
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examples/rac/rac_data_collection.py
+4 -4
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@@ -9,10 +9,10 @@ RaC improves upon standard data collection (BC) and prior human-in-the-loop meth
(DAgger, HG-DAgger) by explicitly collecting recovery and correction behaviors:
The workflow:
1. Policy runs autonomously until human presses SPACE to intervene
2. On intervention: human teleoperates the robot back to a good state (RECOVERY)
3. Human provides CORRECTION with teleoperator to complete the subtask
4. Press -> to end episode (save and continue to next)
1. Policy runs autonomously
2. Press SPACE to pause - robot holds position
3. Press 'c' to take control - human provides RECOVERY + CORRECTION
4. Press → to end episode (save and continue to next)
5. Reset, then do next rollout
Key RaC Rules: