license: other
pretty_name: HumanoidMimicGen G1 Push Button Action Replay Fixture
tags:
- robotics
- humanoid
- mujoco
- lerobot
HumanoidMimicGen G1 Push Button Action Replay Fixture
This is a small public validation fixture for the LMPushButton environment in
HumanoidMimicGen. It contains 50
recorded G1 low-level actions and MuJoCo states at 50 Hz. It is intended to test
recorded-action physics replay, not policy training or benchmark success.
The fixture contains no images, checkpoint weights, internal repository code,
machine paths, or service addresses.
Replay
hf download linkenv/humanoidmimicgen-g1-push-button-action-replay --repo-type dataset --local-dir /tmp/hmg-push-button-replay
git clone https://github.com/NVlabs/humanoidmimicgen.git
cd humanoidmimicgen
python -m pip install -e ".[wbc-replay]"
python scripts/playback_dataset.py /tmp/hmg-push-button-replay \
--action-source recorded --num-episodes 1 --state-atol 0
The player restores only the initial state. It then applies each recorded
low-level joint action and base command without replacing later states, and
compares every resulting MuJoCo state with the next recording.
Provenance and scope
- Environment:
LMPushButton - Robot: G1
- Runtime: MuJoCo 3.2.6, RoboSuite 1.5.1
- Source HMG revision:
4d84ac37deda3e2720ea5e0774d64d426fe5909f - 50 rows, 49 checked state transitions
- No task-success claim; this is a physics replay fixture
Dataset use is subject to the licenses and third-party notices in the
HumanoidMimicGen repository.