RDA audit · AgiBotWorld2026 · real-robot RL (HG-DAgger, task_12192)

Independent quality audit · RDA v0.5.5 · LeRobot format · 10 episodes · 23658 frames · modalities: images.head_depth, images.head_right_fisheye, images.head_left_fisheye, images.top_head, images.hand_right, images.hand_left, images.head_back_fisheye, state

PASS — clean

REVIEW — worth a human look

EXCLUDE — integrity failure

PASS rate

Per-episode verdict strip

PASS 0REVIEW 10EXCLUDE 0

Metric pass rates (three layers, default thresholds, zero per-dataset tuning)

Layer	Metric	Episodes measured	Pass rate
Layer 1 · Integrity	missing/dropout	10	100%
Layer 1 · Integrity	NaN/Inf	10	100%
Layer 1 · Integrity	schema	10	100%
Layer 1 · Integrity	timestamps	10	100%
Layer 1 · Integrity	joint limits	0	n/a
Layer 2 · Temporal & Motion	timestamps	0	n/a
Layer 2 · Temporal & Motion	sensor sync	0	n/a
Layer 2 · Temporal & Motion	velocity/acc	0	n/a
Layer 2 · Temporal & Motion	action spikes	0	n/a
Layer 2 · Temporal & Motion	sufficiency	0	n/a
Layer 3 · Dataset Utility	idle ratio	0	n/a
Layer 3 · Dataset Utility	coverage	0	n/a
Layer 3 · Dataset Utility	distribution	0	n/a

Top observations

Metric	Finding	Evidence
`action_discontinuity`	Observed action discontinuity: 1712 spike(s) across 10 episode(s) (100%); statistical risk signal, not confirmed corruption	RISK_SIGNAL
`idle_ratio`	Observed low effective motion: median 30.0% effective motion (70.0% idle); statistical risk signal	RISK_SIGNAL
`velocity_acceleration`	Observed extreme acceleration spikes: 164 across 10 episode(s); statistical risk signal	RISK_SIGNAL
`sensor_synchronization`	Sensor sync: N/A (no per-stream timestamps in any episode)	UNVERIFIABLE

Hero metrics

Action spikes: 1712 across 10 eps
State occupancy: median 0.087 (low)
Sensor sync: n/a on this dataset

Episode lists

REVIEW (10): 0, 1, 2, 3, 4, 5, 6, 7, 8, 9

EXCLUDE (0): —

REVIEW is a statistical signal worth human inspection before training — not a verdict of "bad data". EXCLUDE means an integrity-layer hard failure or unreadable episode.

Generated from D:/workbuddy-data/reports/agibot_2026/rda_audit_rl_hgdagger_realrobot.json · RDA audit runs fully offline on LeRobot v2.1/v3.0 datasets · pip install robot-data-audit to reproduce · GitHub: github.com/liesliy/rda