Combining data from several robots requires understanding what each source records and which differences can be represented consistently. Start with the transfer question: new robot, new task, new scene, or a combination. Fiund can review source requirements, but a shared export format alone does not establish physical or behavioral compatibility.
Inventory each embodiment
Record joints, end effectors, available sensors, workspace, and relevant controller characteristics for each source. Distinguish missing signals from signals that exist but are not requested. Task names should explain actual interactions; identical names across collections may refer to different objects, start states, or completion criteria.
Map meaning before shape
A vector conversion should preserve interpretable units and frames, not merely produce matching dimensions. Document which values are transformed, which are retained in source form, and which cannot be compared directly. Keep the mapping reversible where practical and label any assumptions that were necessary to create a common representation.
Preserve source identity
Maintain dataset, embodiment, episode, and schema-version references after conversion. These support error tracing and analysis by source. A pooled collection can hide a platform that contributes only one task or camera view, so inspect coverage across embodiment and task rather than reporting aggregate episode totals alone.
Test the intended transfer boundary
Choose evaluation groups that reflect the actual question and avoid overlap through copied or derived episodes. Review converted samples from every included source using the buyer’s loading process. A useful pilot exposes unresolved semantic differences; it should not claim that normalization guarantees successful transfer to a new robot. Compare original and converted values in the same episode when investigating a disputed mapping.
Include in your inquiry
- Transfer question and target embodiment
- Source-specific signal dictionaries
- Documented representation mappings
- Coverage and held-out embodiment plan