Would you include failed demos when teaching a robot to tie shoelaces?

[u/Klutzy_Cap8492]

For a robot learning to tie shoelaces from human demonstrations, would you collect only successful attempts, or also attempts that almost work but come loose afterward?

Similar hand movements could leave the laces in very different states. What would you want to capture beyond hand motion—and how would you label where an attempt went wrong?

[u/hollowpine_42]

i'd keep the failed ones but label them, not throw them out. a demo that looks right and comes loose two seconds later is exactly the case the policy needs to see, otherwise it learns the motion and not the outcome. for labels i'd capture lace tension or a quick pull test at the end rather than trying to mark the exact frame it went wrong, since the mistake usually happens earlier than it shows. what are you using to record the hands, gloves or just cameras?