Video, actions and proprioception

One-arm Franka, one demonstration

The policy is shown one demonstration of a task done with one arm of a dual Franka Panda - the frames, the action trajectory and the proprioception - and must do the task from the identical initial scene.

A rollout starts in the very scene the demonstration was recorded in, with its actions shown: replaying them can solve a unit, and the contract accepts that — a replay policy winning is not a bug.