Questions on record and labeling the demos for Cable Routing

[TedSYt]

Hi, thank you for the great work on this repo!

In the async_cable_route_drq task, I noticed that the record_demo.py script requires a pre-trained classifier checkpoint_path to initialize the BinaryRewardClassifierWrapper. However, I thought this script was designed to record both positive and negative demonstrations to train the classifier from scratch.

Am I missing something?

Without a pre-trained classifier, is there a way to record demonstrations manually (e.g., by labeling episodes as positive/negative)?

How do I handle the task when there is no classifier to automatically segment episodes and labeling the frames, as was done in peg_insert?

Looking forward to your insights.

Thanks!