aw_robot_joint_hcp

One cell of the 3-axis AI-Worker comparison grid (aw_<source>_<representation>_<cameras>).

• Source: robot exo-teleop data (kimyg119/ai_worker_exo, 60 eps / 22,247 frames)
• State/Action representation: 14-dim joint positions (arm_l_joint1..7, arm_r_joint1..7). UMI-sourced joints were obtained by damped-least-squares IK on rcv_worker.urdf with lift_joint=-0.15 (max FK round-trip error 1.0 mm / 0.35 deg).
• Cameras: head, wrist_left_cur, wrist_left_post, wrist_right_cur, wrist_right_post (240x320 @ 15 fps)

All variants share identical camera keys and fps, so any aw_*_joint_hcp datasets are schema-compatible for co-training. Head-pose dims and vr_seq from the original UMI recording were dropped; head/lift joints from the original robot recording were dropped (lift is fixed at -0.15 in all kinematic conversions).

Built with LeRobot (dataset v3.0).