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aaroncaozj/BlockPAP-v1_Mix

BlockPAP-v1_MixLeRobot v2.1 mixed dataset with 3 camera views for BlockPAP-v1 (real + MimicGen trajectories). ❗️ State Alignment between Simulation and Real Robot In this version of the Mix dataset, corresponding biases have been applied to state[2] and state[5] when constructing MimicGen data, unifying the distributions of sim and real data into the states required for a real robot. If performing policy rollout in simulation, apply the same bias to the input states before… See the full description on the dataset page: https://huggingface.co/datasets/aaroncaozj/BlockPAP-v1_Mix.

sourceHugging Faceapache-2.0updated 6mo agoView on Hugging Face

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Dataset Card

BlockPAP-v1_Mix LeRobot v2.1 mixed dataset with 3 camera views for BlockPAP-v1 (real + MimicGen trajectories).

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❗️ State Alignment between Simulation and Real Robot

—In this version of the Mix dataset, corresponding biases have been applied to state[2] and state[5] when constructing MimicGen data, unifying the distributions of sim and real data into the states required for a real robot.

—If performing policy rollout in simulation, apply the same bias to the input states before feeding them to the model. This keeps the evaluation distribution consistent with the training distribution.