This dataset converts official SIMPLE expert demonstrations into training data for a humanoid vision-language-action policy.
Training target:
image + language + proprio → VLA → action[T,128]
action[T,128] = body SONIC[T,64] ++ hand SONIC[T,64]
The 128-D action contains only SONIC tokens. Navigation commands, base height, torso velocity, turning flags, target yaw, teacher state, and future trajectories are not… See the full description on the dataset page:
https://huggingface.co/datasets/dlsmarta/humanoid-vla-simple-token-conversions.
