aaroncaozj/BlockPAP-v0_Mix

---
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-v0 Mix
---

> BlockPAP-v0_Mix
> `LeRobot v2.1` mixed dataset with 2 camera views for `BlockPAP` (real + MimicGen trajectories).

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# ❗️ State Alignment between Simulation and Real Robot

On the **Franka Research 3**, the end-effector states in the real robot dataset contain systematic offsets compared to the simulation due to calibration differences.

| State Index | Description | Offset (Real vs. Sim) |
| ----------- | ---------------------------- | --------------------- |
| `state[2]` | End-effector z position | **+10 cm** |
| `state[5]` | End-effector yaw (z_euler) | **−45°** |

## Training Requirement

To ensure consistent data distributions between simulation and real demonstrations:

* When loading **simulation data**, add the corresponding constant bias to `state[2]` and `state[5]`.
* This aligns the state distributions across both sources and enables smoother deployment on the real robot.

## Simulation Rollout

* 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.