Observation and action alignment
Data quality
The correct temporal and contextual pairing of observations with the actions they describe or inform.
A recording should make clear whether an action is a command issued after an observation, a measured state or a later outcome. Delays, dropped frames and resampling can break that relationship even when each individual record looks valid. Check the dataset’s timing convention before creating training pairs.
In practice
An action to close the gripper is paired with the appropriate preceding observation, rather than a frame captured after the grasp has already happened.