hmunn/rapt-g1-ood
RAPT G1 OOD Benchmark Simulation datasets for out-of-distribution (OOD) detection on a Unitree G1 humanoid, released with "RAPT: Model-Predictive Out-of-Distribution Detection and Failure Diagnosis for Sim-to-Real Humanoid Deployment" (arXiv:2602.01515, code, project page). Each task directory contains proprioceptive trajectories collected from an expert RL policy in NVIDIA Isaac Lab (50 Hz): train.npz — nominal-only episodes for training self-supervised detectors (~1.2M steps… See the full description on the dataset page: https://huggingface.co/datasets/hmunn/rapt-g1-ood.
| Author / organization | hmunn |
|---|---|
| License (as declared) | bsd-3-clause |
| Downloads | 443 (as reported by Hugging Face) |
| Likes | 0 |
| Created | 22 July 2026 |
| Last updated at source | 23 July 2026 |
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