aaroncaozj/BlockPAP-v1_Mix

BlockPAP-v1_Mix
LeRobot v2.1 mixed dataset with 3 camera views for BlockPAP-v1 (real + MimicGen trajectories).

❗️ State Alignment between Simulation and Real Robot

• In this version of the Mix dataset, corresponding biases have been applied to state[2] and state[5] when constructing MimicGen data, unifying the distributions of sim and real data into the states required for a real robot.

• 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.