| license: mit | |
| pretty_name: SIMPLE-eval | |
| task_categories: | |
| - robotics | |
| tags: | |
| - simulation | |
| - humanoid | |
| - unitree-g1 | |
| - whole-body-control | |
| - evaluation | |
| # SIMPLE-eval | |
| Eval episodes for 17 SIMPLE G1 whole-body tasks, unzipped from `SIMPLE-org/data` `eval-fixed/`. | |
| Layout: `<Task>/dr-level-{0,1,2,hard}/`. | |
| ## Success checker changes in this update | |
| Four tasks have a new success check. The other 13 are unchanged. | |
| | Task | Change | | |
| |---|---| | |
| | G1WholebodyBendHandoverTeleop-v0 | The box's center of mass must now be inside the basket's xy footprint, not just touching the basket. A box resting against the outside of the basket no longer counts. | | |
| | G1WholebodyBendPickAndPlaceTeleop-v0 | Same center-of-mass-in-container check as BendHandoverTeleop. | | |
| | G1WholebodyBendPickAndPlaceOnSofaMP-v0 | Success now counts only while the box is on the sofa and released (no hand link touching it). The per-step reward is rounded so that 9 steps × 0.1 reach the 0.9 threshold exactly. | | |
| | G1WholebodyPickAndBendPlaceMP-v0 | The container is now scene19's dog bed. Success means the box touches the bed and does not touch `world`; the old check counted contact with the floor. | | |
| | All other 13 tasks | No change to the success check. | | |