The Clean, Standardized Training Data Hub for Embodied AI

# OverFit Standardized Multi-Modal Episode Tensor
{
  "action": torch.Size([T, 14]),                     # Dual-arm target (7-DoF Left + 7-DoF Right) in rad
  "observation.state.joint_positions": torch.Size([T, 14]), # Calibrated absolute joint telemetry
  "observation.state.joint_velocities": torch.Size([T, 14]),# Angular velocities (rad/s)
  "observation.state.effort": torch.Size([T, 14]),           # Motor current & contact torque (Nm)
  
  "observation.images.wrist_left": torch.Size([T, 3, 480, 640]),  # Eye-in-hand RGB stream (D405 Macro)
  "observation.images.wrist_right": torch.Size([T, 3, 480, 640]), # Tool-tip mating focus camera (RGB)
  "observation.images.top_head": torch.Size([T, 3, 480, 640]),    # Workspace context camera (RGB)
  
  "observation.tactile.piezo_pressure": torch.Size([T, 2, 64]),   # Fingertip tactile matrix
  "observation.ft_wrench": torch.Size([T, 12]),                # 6-Axis F/T Sensor [Fx..Fz, Tx..Tz]

  "episode_metadata": {
    "spec_id": "SPEC-JST-1250",
    "teleop_rig": "AgileX-PiPER-Dual-Arm-v2",
    "auto_qa_status": "PASSED",
    "jerk_smoothness_score": 0.968
  }
}