KEEP THE COMMAND. STUDY THE GAP.
CSDW — dataset recording checklist

[ ] Preserve original controller command streams.
[ ] Preserve measured robot state streams alongside processed action labels.
[ ] Keep timestamps and document temporal alignment and resampling.
[ ] Describe the control interface and command semantics.
[ ] Record units, coordinate frames, joint ordering, and channel conventions.
[ ] Document every label transformation, including offsets, clipping, filtering, and normalization.
[ ] Identify which action channels are commands and which are reconstructed from motion.
[ ] Preserve demonstration boundaries so temporal analysis stays within each trajectory.
[ ] Investigate command–state discrepancy across task phases and interaction conditions.
[ ] For simulation benchmarks, expose both command and response streams and vary controller dynamics and contact constraints.

Derived from the paper's data-preservation recommendation; the operational checklist elaborates that recommendation.
Discrepancy is not a direct force measurement or a ground-truth label of human intent.