aaroncaozj/BlockPAP-v1_Mix
收藏Hugging Face2026-03-27 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/aaroncaozj/BlockPAP-v1_Mix
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资源简介：
---
configs:
- config_name: default
data_files:
- split: train
path:
- data/chunk-000/*.parquet
- data/chunk-001/*.parquet
language:
- en
license: apache-2.0
pretty_name: BlockPAP-v1 Mix
---
> BlockPAP-v1_Mix
> `LeRobot v2.1` mixed dataset with 3 camera views for `BlockPAP-v1` (real + MimicGen trajectories).
<br>
# ❗️ 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.
提供机构：
aaroncaozj
