physicalai-bmi/

forge-arm-pixels

Real MuJoCo pixels captured live from the Institute's in-browser Forge arm (WebGPU), paired with the action the released state-checkpoint took. This is the exact training set behind physicalai-bmi/nano-vla-pixels.

2,500 frames across 128 reaches, frames/f#####.png (the rendered MuJoCo arm, 844×520). meta.json — per-frame { i, act:[3], obs:[7], reaches }; act is the 3-D joint-delta action, reaches is the episode index (use it for an episode-level… See the full description on the dataset page: https://huggingface.co/datasets/physicalai-bmi/forge-arm-pixels.