Recording & dataset workflow
The brochure describes synchronized robot and video recording: robot data in MCAP, video encoded as MP4, and timestamp alignment for a multimodal dataset. It also names LeRobot conversion and Rerun visualization. HDF5 and RLDS appear in the published format list; verify the exact exporter supported by your installed converter.
Keep the two recording paths separate
| Path | Source description |
|---|---|
| Apex recording | Robot and camera data for teleoperation demonstrations |
| Marvin Platform acquisition | Single-arm, seven-joint data recorded to TXT at 1 kHz in the Pro manual |
The Pro manual also describes downsampling a Marvin Platform trajectory to 50 Hz for its replay workflow. This is a specific replay path, not the controller's universal communication rate.
Suggested first dataset check
Record a short episode using the release-matched Apex instructions. Inspect whether all expected camera and robot streams are present, whether timestamps and units are understood, and whether the converter can read the episode before collecting a larger dataset.
Keep the raw recording alongside converted outputs. Record the hardware configuration, software versions, converter version, and task description so a dataset can be reproduced.
Conversion and deployment
Use the Apex documentation center for the KM Data Converter and VLA workflow. Exporting a dataset is a separate step from training or deploying a policy; it does not establish that a trained policy is safe or compatible with a different robot configuration.