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observation.state list | action list | observation.images.head image | observation.images.right_wrist image | observation.images.left_wrist image | full_qpos list | full_qvel list | raw_outer_action list | expanded_action list | lowerbody_action list | leg_joint_targets list | torso_target float32 | lowerbody_command list | height_command float32 | reward float32 | event_progress float32 | discount float32 | demo float32 | is_expert float32 | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
BiGym H1 Native Demonstrations
Canonical native H1 demonstrations for BiGym.
Branches
main: training-ready LeRobot v3, lossless embedded PNG, 50 Hz, 1-second success hold.raw-hold3s: original 3-second LeRobot export. Archive/source only; do not use directly for new training.
Contents
Eight tasks, 60 episodes each: move_plate_h1, reach_target_single_h1, reach_target_dual_h1, reach_target_multi_modal_h1, drawer_top_close_h1, drawer_top_open_h1, dishwasher_load_cups_h1, and sandwich_remove_h1.
Download main and pass the selected task directory to CQN-AS-G1 as native_homie_demo_dir=<snapshot>/<task>. The five BiGym trainers (CQN-AS, CQN, DrQ-v2+, ACT, and Diffusion Policy) read this LeRobot v3 layout directly.
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