Datasets:

ChenyuanC
/

HuMeGo-Sim-TestScenes

@@ -33,7 +33,9 @@ Test seeds are disjoint from the training demonstrations and were accepted by th
 Each folder is in LeRobot v2.1 layout with one frame per episode: the initial robot state of the scene. The scene itself is in
 `environment_config` of `meta/episodes.jsonl`: task id, scene seed, answer, randomization level and the domain-randomization state
 for the [SIMPLE](https://github.com/physical-superintelligence-lab/SIMPLE) simulator. `usd_path` values are relative to the SIMPLE
-repository root. A trial succeeds when the robot places the object on (or touches) the pad given by the answer.
 ## License

 Each folder is in LeRobot v2.1 layout with one frame per episode: the initial robot state of the scene. The scene itself is in
 `environment_config` of `meta/episodes.jsonl`: task id, scene seed, answer, randomization level and the domain-randomization state
 for the [SIMPLE](https://github.com/physical-superintelligence-lab/SIMPLE) simulator. `usd_path` values are relative to the SIMPLE
+repository root. TouchPad stores its scene under the `bp2t` key (answer = `blink_pad`, level = `touch-L0/L1/L2`) and adds
+`start_frames/`, a rendering of each scene's initial state for reference. A trial succeeds when the robot places the object on
+(or, in TouchPad, touches) the pad given by the answer.
 ## License

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