diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/README.md b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2e1d2697bd40f8a6d712f7930ca151723a31bf50 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/README.md @@ -0,0 +1,4 @@ +# humanoidbench_balance_simple H1 teacher data + +Shared by QwenOFT, QwenPI_v3, QwenGR00T, and WanOFT. +Train/validation splits and normalization are fixed in the LeRobot metadata. diff --git a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/lerobot/data/chunk-000/episode_000000.parquet b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/lerobot/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ad5479961c1380f907479572a3d7b17ef1d4aaee --- /dev/null +++ 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a/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/lerobot__val/task_contract.json b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/lerobot__val/task_contract.json new file mode 100644 index 0000000000000000000000000000000000000000..7a29a79efdf3e56e7339f97590e7a94838c8a653 --- /dev/null +++ b/zero-latency/humanoidbench-balance-simple/teacher-rollouts-h1-state-v1/lerobot__val/task_contract.json @@ -0,0 +1,1737 @@ +{ + "format": "latency_bench_starvla_h1_v1", + "task": "humanoidbench_balance_simple", + "robot_type": "latency_balance_h1", + "state_dim": 198, + "action_dim": 43, + "action_horizon": 1, + "fps": 50.0, + "state_key": "observation.state", + "action_key": "action", + "video_keys": [ + "video.ego_view" + ], + "auxiliary": {}, + "normalization": { + "state": { + "mean": [ + -0.028602425009012222, + 0.011210105381906033, + 1.1085069179534912, + 0.9959309697151184, + -0.011775643564760685, + -0.02804010733962059, + 0.014384770765900612, 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