BlockPAP-v1_Mix

BlockPAP-v1 Mix 是一个用于 LeRobot v2.1 的混合数据集，包含真实轨迹和 MimicGen 轨迹。数据集配置包括训练数据文件的路径（以 parquet 格式存储），语言为英语，许可证为 Apache-2.0。需要注意的是，在真实 Franka Research 3 上，state[5]（z_euler）与模拟数据相比存在 -45 度偏移。因此，在使用此数据集进行训练时，需要处理这一差异，例如在读取模拟数据时添加一个常数偏置，以使 state[5] 的数据分布与真实机器一致，从而实现平滑部署。如果在模拟中进行 rollout，也需要对 state[5] 进行补偿以对齐训练分布。

BlockPAP-v1 Mix is a mixed dataset for LeRobot v2.1, comprising real-world trajectories and MimicGen-generated trajectories. The dataset configuration includes the paths to training data files stored in Parquet format, with English as the language and the Apache-2.0 license. Notably, on the real Franka Research 3 robot, state[5] (z_euler) has a -45-degree offset compared to the simulated data. Therefore, this discrepancy must be addressed when training with this dataset: for example, add a constant bias when reading simulated data to align the data distribution of state[5] with that of the real robot, enabling smooth deployment. If performing rollouts in simulation, state[5] also needs to be compensated to align with the training distribution.