Would you say capture-time semantic annotation for robot trajectories is a solved problem? [R](reddit.com)

It seems raw teleoperation data (RGB + joint states) structurally lacks affordance, contact intent, and embodiment-specific kinematic context. (information that can't be reliably recovered post-hoc once the demonstration is recorded) Most current approaches either filter/clean after collection, or rely on simulation to compensate. But neither seems to close the semantic gap for contact-rich tasks in unstructured environments. Is anyone working on supervision at acquisition time, enriching the stream as it's captured rather than labeling after the fact? And if not, is this a real bottleneck or am I overestimating the problem? submitted by /u/Several-Many9101 [link] [Kommentare]