/ SŁOWNIK
Słownictwo danych robotycznych.
Precyzyjne, praktyczne definicje pojęć pojawiających się przy budowie pipeline'u danych robotycznych — napisane dla inżynierów, którym zależy na znaczeniu operacyjnym, a nie podręcznikowym.
/ Teleoperation
Teleoperation
Teleoperation is the real-time remote control of a robot by a human operator, using streamed sensor feedback to close the perception-action loop.
Bilateral Teleoperation
Bilateral teleoperation reflects the forces a robot feels back to the operator's hand, closing a force loop that is far more delay-sensitive than video.
Shared Autonomy
Shared autonomy blends human input with an autonomous policy in real time, so a person and a robot control the same task jointly instead of trading it off.
Motion Retargeting
Motion retargeting maps a human operator's tracked motion onto a robot with different kinematics, and its error corrupts demonstrations if unmeasured.
End-Effector Pose
An end-effector pose is a robot tool's position and orientation in 6 degrees of freedom — frame and rotation choice both shape what a policy learns.
/ Robot learning
Imitation Learning
Imitation learning trains a robot policy to reproduce demonstrations, without a reward function — and its central failure mode is compounding error.
Vision-Language-Action Model (VLA)
A vision-language-action model maps camera images and a language instruction directly to robot actions, built on a pretrained vision-language model.
Behavior Cloning
Behavior cloning trains a robot policy with supervised learning, mapping observations to actions — and it fails in specific, well-understood ways.
Action Chunking
Action chunking predicts a short sequence of future actions per step, reducing compounding error and handling pauses in demonstrations better.
Sim-to-Real Transfer
Sim-to-real transfer means training a policy in simulation and deploying it on real hardware — and the reality gap is why that transfer isn't automatic.
/ Data pipeline
Robot Demonstration Data
Robot demonstration data pairs synchronized sensor streams with the actions a human took, structured so an imitation-learning policy can learn the mapping.
Data Flywheel
A data flywheel is the loop of deploying a policy, capturing failures, and retraining on them — it only spins for robots if collection is instrumented.
Time Synchronization
Time synchronization puts every sensor on one clock, so a dataset isn't silently pairing the wrong camera frame with the wrong joint state.
Episode
An episode is one bounded attempt at a task — a sequence of steps from a defined start to a defined end — and the unit most robot dataset formats index by.
/ Data formats
MCAP
MCAP is a self-describing, chunked, indexed log format for timestamped multimodal messages, and the default ROS 2 bag storage plugin since Iron.
LeRobot Dataset
LeRobotDataset is Hugging Face's format for robot learning: Parquet for tabular state/action, MP4 shards for video, metadata that reconstructs episodes.
RLDS
RLDS (Reinforcement Learning Datasets) stores episodes as sequences of steps on top of TFDS/TFRecord, and is the format Open X-Embodiment standardized on.
URDF
URDF is the XML format describing a robot's links, joints, and geometry for ROS. It defines kinematics but can't express closed chains or sensors natively.
Wprowadź to w życie.
Powiedz nam, czego mają nauczyć się Twoje roboty. Dobierzemy stanowisko, operatorów, protokół i pierwsze zbiory danych — zwykle podczas jednej rozmowy.