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Browse files- 50_trajectories_fixed_20k/config.json +93 -0
- 50_trajectories_fixed_20k/embodiment_id.json +59 -0
- 50_trajectories_fixed_20k/model-00001-of-00002.safetensors +3 -0
- 50_trajectories_fixed_20k/model-00002-of-00002.safetensors +3 -0
- 50_trajectories_fixed_20k/model.safetensors.index.json +0 -0
- 50_trajectories_fixed_20k/processor_config.json +159 -0
- 50_trajectories_fixed_20k/statistics.json +851 -0
50_trajectories_fixed_20k/config.json
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{
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"action_horizon": 30,
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"add_pos_embed": true,
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"apply_sincos_state_encoding": false,
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"architectures": [
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"Gr00tN1d7"
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],
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"attn_dropout": 0.2,
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"attn_implementation": null,
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"backbone_embedding_dim": 2048,
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"backbone_model_path": "/mnt/data/nieshen/models/Cosmos-Reason2-2B",
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"backbone_trainable_params_fp32": true,
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"color_jitter_params": {
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"brightness": 0.3,
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"contrast": 0.4,
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"hue": 0.08,
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"saturation": 0.5
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},
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"crop_fraction": 0.95,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"dropout": 0.2,
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"final_dropout": true,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 32,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"dtype": "bfloat16",
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"exclude_state": false,
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"formalize_language": true,
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"hidden_size": 1024,
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"image_crop_size": [
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230,
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230
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],
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"image_target_size": [
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256,
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256
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],
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"letter_box_transform": false,
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"load_bf16": false,
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"max_action_dim": 42,
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"max_num_embodiments": 32,
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"max_seq_len": 1024,
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"max_state_dim": 68,
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"model_dtype": "bfloat16",
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"model_name": "nvidia/Cosmos-Reason2-2B",
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"model_type": "Gr00tN1d7",
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"noise_beta_alpha": 1.5,
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"noise_beta_beta": 1.0,
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| 54 |
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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"num_timestep_buckets": 1000,
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"random_history_crop": true,
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| 58 |
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"random_rotation_angle": 0,
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"reinitialize_action_io": true,
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"reproject_vision": false,
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"rtc_enabled": true,
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"rtc_max_delay_steps": 12,
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"rtc_ramp_rate": 6.0,
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"select_layer": 16,
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"shortest_image_edge": 256,
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"state_dropout_prob": 0.2,
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"state_gaussian_noise_std": 0.0,
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"transformers_version": "4.57.3",
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"tune_diffusion_model": true,
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"tune_linear": true,
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"tune_llm": true,
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"tune_projector": true,
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"tune_top_llm_layers": 0,
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"tune_visual": true,
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"tune_vlln": true,
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"use_albumentations": true,
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"use_alternate_vl_dit": true,
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"use_flash_attention": true,
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"use_future_tokens": false,
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"use_mean_std": false,
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"use_percentiles": true,
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"use_relative_action": false,
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"use_vl_self_attention": true,
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| 84 |
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"use_vlln": true,
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| 85 |
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"vl_self_attention_cfg": {
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| 86 |
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"attention_head_dim": 64,
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| 87 |
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"dropout": 0.2,
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| 88 |
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"final_dropout": true,
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"num_attention_heads": 32,
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| 90 |
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"num_layers": 4,
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| 91 |
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"positional_embeddings": null
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}
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}
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50_trajectories_fixed_20k/embodiment_id.json
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{
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| 2 |
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"robocasa_panda_omron": 13,
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| 3 |
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"oxe_droid": 17,
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| 4 |
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"oxe_fractal": 18,
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| 5 |
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"oxe_language_table": 19,
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| 6 |
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"oxe_bridge": 20,
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| 7 |
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"unknown": 22,
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| 8 |
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"gr1_unified": 20,
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| 9 |
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"agibot": 26,
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| 10 |
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"sim_behavior_r1_pro": 23,
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| 11 |
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"xdof": 24,
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| 12 |
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"xdof_oss_data": 25,
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| 13 |
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"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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| 14 |
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"real_r1_pro_sharpa": 27,
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| 15 |
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"real_r1_pro_sharpa_add_view": 27,
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| 16 |
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"real_r1_pro_sharpa_relative_arm_joint": 26,
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| 17 |
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"real_r1_pro_sharpa_delta_eef": 26,
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| 18 |
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"real_r1_pro_sharpa_absolute_eef": 26,
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| 19 |
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"real_r1_pro_sharpa_meanstd": 26,
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| 20 |
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"real_r1_pro_sharpa_relative_eef": 26,
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| 21 |
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"real_r1_pro_sharpa_relative_eef_add_view": 26,
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| 22 |
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"real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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| 23 |
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"real_r1_pro_sharpa_relative_eef_human": 26,
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| 24 |
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"real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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| 25 |
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"real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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| 26 |
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"real_r1_pro_sharpa_relative_eef_egodex": 26,
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| 27 |
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"real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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| 28 |
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"real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
|
| 29 |
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"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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| 30 |
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"real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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| 31 |
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"real_r1_pro_sharpa_relative_eef_mecka": 26,
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| 32 |
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"real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
|
| 33 |
+
"real_g1_relative_eef_absolute_joints": 25,
|
| 34 |
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"real_g1_relative_eef_absolute_joints_wrist_cam": 25,
|
| 35 |
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"real_g1_relative_eef_relative_joints": 25,
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| 36 |
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"real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
|
| 37 |
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"real_r1_pro_sharpa_relative_joint": 29,
|
| 38 |
+
"oxe_droid_relative_eef_relative_joint": 24,
|
| 39 |
+
"oxe_droid_relative_eef_relative_joint_swapped": 24,
|
| 40 |
+
"oxe_droid_relative_eef_relative_joint_upweight_z": 24,
|
| 41 |
+
"oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
|
| 42 |
+
"oxe_droid_relative_eef_relative_joint_3view": 24,
|
| 43 |
+
"oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
|
| 44 |
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"oxe_droid_relative_eef": 24,
|
| 45 |
+
"oxe_droid_joint_position_relative": 24,
|
| 46 |
+
"xdof_relative_eef_relative_joint": 27,
|
| 47 |
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"xdof_relative_eef_relative_joint_subtask": 27,
|
| 48 |
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"xdof_relative_eef": 27,
|
| 49 |
+
"xdof_relative_joint": 28,
|
| 50 |
+
"simpler_env_google": 0,
|
| 51 |
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"simpler_env_widowx": 1,
|
| 52 |
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"libero_sim": 2,
|
| 53 |
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"droid_sim": 3,
|
| 54 |
+
"new_embodiment": 10,
|
| 55 |
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"robocasa_gr1_tabletop": 10,
|
| 56 |
+
"unitree_g1_sonic": 11,
|
| 57 |
+
"g1_walk_bottle": 12,
|
| 58 |
+
"g1_heft": 12
|
| 59 |
+
}
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50_trajectories_fixed_20k/model-00001-of-00002.safetensors
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:1eb4917a7471248035f00fef176417241faa2035a3af1d72ddf81418cd65345c
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| 3 |
+
size 4990519232
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50_trajectories_fixed_20k/model-00002-of-00002.safetensors
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version https://git-lfs.github.com/spec/v1
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oid sha256:c5d36e0b8d12a466a7af1f238c9d132c8feba9269b5954c94b2f9e359b033f83
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size 1901034504
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50_trajectories_fixed_20k/model.safetensors.index.json
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50_trajectories_fixed_20k/processor_config.json
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| 1 |
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{
|
| 2 |
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"processor_class": "Gr00tN1d7Processor",
|
| 3 |
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"processor_kwargs": {
|
| 4 |
+
"modality_configs": {
|
| 5 |
+
"g1_heft": {
|
| 6 |
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"video": {
|
| 7 |
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"delta_indices": [
|
| 8 |
+
0
|
| 9 |
+
],
|
| 10 |
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"modality_keys": [
|
| 11 |
+
"ego_view",
|
| 12 |
+
"left_wrist",
|
| 13 |
+
"right_wrist"
|
| 14 |
+
],
|
| 15 |
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"sin_cos_embedding_keys": null,
|
| 16 |
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|
| 17 |
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"action_configs": null
|
| 18 |
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},
|
| 19 |
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"state": {
|
| 20 |
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"delta_indices": [
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"modality_keys": [
|
| 24 |
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"joint_position",
|
| 25 |
+
"joint_velocity",
|
| 26 |
+
"projected_gravity",
|
| 27 |
+
"root_angular_velocity",
|
| 28 |
+
"head_joint_position",
|
| 29 |
+
"gripper_position"
|
| 30 |
+
],
|
| 31 |
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"sin_cos_embedding_keys": null,
|
| 32 |
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"mean_std_embedding_keys": null,
|
| 33 |
+
"action_configs": null
|
| 34 |
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},
|
| 35 |
+
"action": {
|
| 36 |
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"delta_indices": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
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| 50 |
+
13,
|
| 51 |
+
14,
|
| 52 |
+
15,
|
| 53 |
+
16,
|
| 54 |
+
17,
|
| 55 |
+
18,
|
| 56 |
+
19,
|
| 57 |
+
20,
|
| 58 |
+
21,
|
| 59 |
+
22,
|
| 60 |
+
23,
|
| 61 |
+
24,
|
| 62 |
+
25,
|
| 63 |
+
26,
|
| 64 |
+
27,
|
| 65 |
+
28,
|
| 66 |
+
29
|
| 67 |
+
],
|
| 68 |
+
"modality_keys": [
|
| 69 |
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"reference_joint_position",
|
| 70 |
+
"root_delta_xy",
|
| 71 |
+
"root_height",
|
| 72 |
+
"root_delta_rotation6d",
|
| 73 |
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"left_gripper",
|
| 74 |
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"right_gripper",
|
| 75 |
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"head_joint_position"
|
| 76 |
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],
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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{
|
| 81 |
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"rep": "ABSOLUTE",
|
| 82 |
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"type": "NON_EEF",
|
| 83 |
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"format": "DEFAULT",
|
| 84 |
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|
| 85 |
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},
|
| 86 |
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{
|
| 87 |
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"rep": "ABSOLUTE",
|
| 88 |
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"type": "NON_EEF",
|
| 89 |
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"format": "DEFAULT",
|
| 90 |
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"state_key": null
|
| 91 |
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},
|
| 92 |
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{
|
| 93 |
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"rep": "ABSOLUTE",
|
| 94 |
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"type": "NON_EEF",
|
| 95 |
+
"format": "DEFAULT",
|
| 96 |
+
"state_key": null
|
| 97 |
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},
|
| 98 |
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{
|
| 99 |
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"rep": "ABSOLUTE",
|
| 100 |
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"type": "NON_EEF",
|
| 101 |
+
"format": "DEFAULT",
|
| 102 |
+
"state_key": null
|
| 103 |
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},
|
| 104 |
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{
|
| 105 |
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"rep": "ABSOLUTE",
|
| 106 |
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"type": "NON_EEF",
|
| 107 |
+
"format": "DEFAULT",
|
| 108 |
+
"state_key": null
|
| 109 |
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},
|
| 110 |
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{
|
| 111 |
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"rep": "ABSOLUTE",
|
| 112 |
+
"type": "NON_EEF",
|
| 113 |
+
"format": "DEFAULT",
|
| 114 |
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"state_key": null
|
| 115 |
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},
|
| 116 |
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{
|
| 117 |
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"rep": "ABSOLUTE",
|
| 118 |
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"type": "NON_EEF",
|
| 119 |
+
"format": "DEFAULT",
|
| 120 |
+
"state_key": null
|
| 121 |
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}
|
| 122 |
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]
|
| 123 |
+
},
|
| 124 |
+
"language": {
|
| 125 |
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"delta_indices": [
|
| 126 |
+
0
|
| 127 |
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],
|
| 128 |
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"modality_keys": [
|
| 129 |
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"task"
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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}
|
| 135 |
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}
|
| 136 |
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},
|
| 137 |
+
"image_crop_size": null,
|
| 138 |
+
"image_target_size": null,
|
| 139 |
+
"use_albumentations": true,
|
| 140 |
+
"random_rotation_angle": null,
|
| 141 |
+
"color_jitter_params": null,
|
| 142 |
+
"shortest_image_edge": 256,
|
| 143 |
+
"crop_fraction": 1.0,
|
| 144 |
+
"letter_box_transform": true,
|
| 145 |
+
"model_name": "/mnt/data/nieshen/models/Cosmos-Reason2-2B",
|
| 146 |
+
"model_type": "qwen",
|
| 147 |
+
"formalize_language": true,
|
| 148 |
+
"max_state_dim": 68,
|
| 149 |
+
"max_action_dim": 42,
|
| 150 |
+
"max_action_horizon": 30,
|
| 151 |
+
"use_percentiles": true,
|
| 152 |
+
"use_mean_std": false,
|
| 153 |
+
"clip_outliers": true,
|
| 154 |
+
"apply_sincos_state_encoding": false,
|
| 155 |
+
"use_relative_action": false,
|
| 156 |
+
"exclude_state": false,
|
| 157 |
+
"state_dropout_prob": 0.2
|
| 158 |
+
}
|
| 159 |
+
}
|
50_trajectories_fixed_20k/statistics.json
ADDED
|
@@ -0,0 +1,851 @@
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