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DAGGER (data collection with policy-in-the-loop)

This module provides DAgger-style data collection for robot platforms: the policy runs on a remote GPU server; the IPC runs ROS/ROS2, arm controllers, and cameras. Operators can switch into DAgger mode to demonstrate corrections, then save episodes (HDF5, optional videos, intervention labels).

Platforms

Platform Directory Description
ARX-X5 arx/ Dual-arm ARX-X5 (ROS2, master/slave, RealSense). CAN configured per ARX official repo.
Agilex agilex/ Dual-arm Agilex Piper (ROS, master/slave, RealSense). Includes CAN scripts.

See each platform’s README for prerequisites, one-time setup (workspace build, CAN if applicable), and launch order (policy server → CAN/arms → collection script).

Common flow

  1. Policy server (GPU machine): serve_policy from the repo root.
  2. IPC: Source ROS/ROS2, ensure CAN is up (if required), enable arms (master + slave), then run the platform’s DAGGER collection script.
  3. During collection: Start inference (Enter), enter DAgger mode (e.g. d), record (Space), save (s), resume (r).

Details and keybindings are in arx/README.md and agilex/README.md.