diff --git a/README.md b/README.md index 74155726289694e7b4b2e57867c56e4cedd33d1f..575de691d3ad0f6dbd70bca9979a0599ed2c600e 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,8 @@ task_categories: - `observation.gripper.time_since_close` / `time_since_open` — seconds since the previous flip. Frames with no such flip in the episode hold the sentinel `10000`. -The `delta-ee` branch additionally swaps the flat `action` column to the delta-EE -values (joint-position actions live on `main`). +The flat `action` column holds the delta-EE values and the flat `observation.state` +column holds the EE state `[x, y, z, roll, pitch, yaw, gripper]`; the joint-space +originals remain in `action.joint_position` / `observation.state.joint_position`. 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