Label Schema

Recorded Targets

Field	Range	Meaning
steering	0-180 degrees	absolute logical servo target
throttle	0.0-1.0	absolute physical PWM fraction; 0.55 means 55%
image/path	string	frame identity
source/run	string	capture provenance
timestamp/order	ordered value	split and temporal-sequence membership

Hardware center trim does not rewrite the steering label. Runtime useful-range throttle mapping does not rewrite the captured absolute throttle label.

Family Use

• Series 1/2 train steering-only direct regression.
• Series 3 accepts steering and throttle labels; steering-focused runs may give throttle loss zero.
• Series 4 uses steering only and derives previous/future targets from ordered labels.

Series 4 future targets are supervision only. They are not runtime inputs.

Validation

Reject missing images, non-numeric/out-of-range values, duplicate conflicts without an explicit correction rule, and temporal windows that cross a run/split/gap boundary. Corrections override matching base labels and should retain provenance.

Corrections and Review

A correction record must identify the image, provide the reviewed logical steering target, and retain enough source context to explain why it overrides the base row. Optional repeat weighting is a training decision and must not be confused with label confidence.

Duplicate filenames from different runs require path/run disambiguation. Exact duplicate rows may be deduplicated during snapshot construction only when the retained record and count are documented. Conflicting labels require visual/run review; averaging them hides the disagreement.

Examples requiring review include unreadable images, missing throttle in a Series 3 record, nonnumeric values, out-of-range steering, a correction with no matching image, and a temporal window that crosses a capture gap. Tools may report or clamp a value, but automated acceptance is not evidence that the label is behaviorally correct.

See Dataset Overview, Relabeling Workflow, and Training Pipeline.