⚠ DEPRECATED — DO NOT CONSUME
This repository's hand_tokens.npy files were produced with a stale
un-normalization step that has since been fixed. Specifically, the per-joint
lo/hi calibration arrays applied to inspire and brainco hand values were in
the wrong per-joint order, which pushed many frames' hand poses to the same
clamped output. Empirical signature: on chunk-000/episode_000000 only
~15 % of frames produce distinct tokens (compare to ~90 % in the correct
version).
Use these instead
- Measured hand tokens —
mertalbaba/UnifoLM-WBT-Hand-MEAS(recipe tag:lohi-order-fixed-0812) - Commanded hand tokens —
mertalbaba/UnifoLM-WBT-Hand-v3(recipe tag:lohi-order-fixed-0812) - Raw source (both cmd + state, 30 Hz, native widths, for re-encoding) —
mertalbaba/UnifoLM-Hand-Raw
When was this deprecated
2026-08-16, after cross-checking against the -MEAS fixed variant showed
max|Δ|=0.50, mean|Δ|=0.106 per-token difference on ep 0 with the same
underlying hand data.
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