Weyl09/mosim-humanoid-walk-random-ar1-dt005

MoSim Humanoid Walk Random AR(1), dt=0.005

Humanoid Walk state transition dataset collected from DMC with random AR(1)-style actions.

Format

Each .npz contains:

• —data: float32 array with shape (num_trajectories, 1000, state_dim + action_dim + state_dim).
• —metadata: object with state_dim, action_dim, and DMC qpos/qvel sizes when available.

Each transition row is [s_t, a_t, s_(t+1)].

For Humanoid Walk:

• —state_dim = 55
• —action_dim = 21
• —row dimension = 55 + 21 + 55 = 131
• —dataset row timestep dt = 0.005 seconds

Files

• —train_95pct/humanoid_walk_state_random_ar1_dt_train95pct_mosim.npz: 2.55 GiB
• —test_5pct/humanoid_walk_state_random_ar1_dt_test5pct_mosim.npz: 0.13 GiB

Dataset Details

{
  "action_dim": 21,
  "dt": 0.005,
  "name": "MoSim Humanoid Walk Random AR(1)",
  "policy": "random_ar1",
  "source": "dm_control humanoid walk",
  "state_dim": 55,
  "test_trajectories": 500,
  "train_trajectories": 9500,
  "transition_steps": 1000
}