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official-textop-robot-humanml-artifacts

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Add official TextOp MVAE/DAR handoff artifacts

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Files changed (9) hide show
  1. README.md +47 -0
  2. dar_cfg.yaml +1705 -0
  3. dar_ckpt_50000.pth +3 -0
  4. dar_run.log +40 -0
  5. mvae_ckpt_10000.pth +3 -0
  6. mvae_reconstruction_sample.npz +3 -0
  7. mvae_reconstruction_summary.json +25 -0
  8. mvae_run.log +24 -0
  9. vae_src.log +1 -0
README.md ADDED
@@ -0,0 +1,47 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Official TextOp Deliverable
2
+
3
+ This folder is a compact handoff package for the current official TextOp baseline on our dataset.
4
+
5
+ Included files:
6
+
7
+ 1. `mvae_ckpt_10000.pth`
8
+ Recommended MVAE checkpoint for downstream use.
9
+ 2. `dar_ckpt_50000.pth`
10
+ Latest saved DAR checkpoint from the current training run.
11
+ 3. `mvae_run.log`
12
+ MVAE resumed training log.
13
+ 4. `dar_run.log`
14
+ DAR training log.
15
+ 5. `dar_cfg.yaml`
16
+ Exact DAR config saved by Hydra for this run.
17
+ 6. `vae_src.log`
18
+ Source path of the MVAE checkpoint cached into the DAR run.
19
+ 7. `mvae_reconstruction_sample.npz`
20
+ One exported MVAE reconstruction sample.
21
+ 8. `mvae_reconstruction_summary.json`
22
+ Reconstruction error summary for that sample batch.
23
+
24
+ Current status:
25
+
26
+ 1. MVAE was trained to a late, flatter regime and stopped to free GPU for DAR.
27
+ 2. DAR was trained successfully to `step 50000`.
28
+ 3. DAR loss is normal and clearly lower than the early stage.
29
+
30
+ Useful numbers:
31
+
32
+ 1. MVAE `loss/train_total`: `0.459224 -> 0.006279`
33
+ 2. DAR `loss/train_total`: `0.498519 -> 0.100912`
34
+ 3. DAR `loss/train_rec`: `0.109399 -> 0.021164`
35
+ 4. DAR `loss/train_latent_rec`: `0.389046 -> 0.079731`
36
+ 5. MVAE reconstruction sample mean MSE: `0.004995`
37
+ 6. MVAE reconstruction sample mean MAE: `0.039733`
38
+
39
+ What "reconstruction" means here:
40
+
41
+ 1. Take a real motion segment from the validation set.
42
+ 2. Encode the future motion into MVAE latent.
43
+ 3. Decode it back into motion using the same model.
44
+ 4. Compare decoded motion against the original future motion.
45
+
46
+ So reconstruction checks whether the MVAE has learned a good motion representation.
47
+ It is not the same thing as DAR text-driven generation.
dar_cfg.yaml ADDED
@@ -0,0 +1,1705 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ project_name: RobotMDAR
2
+ expname: OfficialFullDARFromMVAE10000
3
+ task: train-dar
4
+ seed: 0
5
+ device: cuda
6
+ timestamp: '20260418_181357'
7
+ base_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs
8
+ experiment_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357
9
+ nfeats: 57
10
+ foot_dof_indices:
11
+ left_foot: 5
12
+ right_foot: 11
13
+ ckpt:
14
+ vae: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullTrainabilityResume/train-mvae-20260418_160348/ckpt_10000.pth
15
+ dar: null
16
+ load_cfg: null
17
+ data:
18
+ skeleton:
19
+ motion_lib_type: origin
20
+ asset:
21
+ assetRoot: description/
22
+ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
23
+ humanoid_type: g1_23dof_lock_wrist
24
+ bias_offset: false
25
+ has_self_collision: true
26
+ has_mesh: false
27
+ has_jt_limit: false
28
+ has_dof_subset: true
29
+ has_upright_start: true
30
+ has_smpl_pd_offset: false
31
+ remove_toe: false
32
+ motion_sym_loss: false
33
+ sym_loss_coef: 1
34
+ big_ankle: true
35
+ has_shape_obs: false
36
+ has_shape_obs_disc: false
37
+ has_shape_variation: false
38
+ masterfoot: false
39
+ freeze_toe: false
40
+ freeze_hand: false
41
+ box_body: true
42
+ real_weight: true
43
+ real_weight_porpotion_capsules: true
44
+ real_weight_porpotion_boxes: true
45
+ body_names:
46
+ - pelvis
47
+ - left_hip_pitch_link
48
+ - left_hip_roll_link
49
+ - left_hip_yaw_link
50
+ - left_knee_link
51
+ - left_ankle_pitch_link
52
+ - left_ankle_roll_link
53
+ - right_hip_pitch_link
54
+ - right_hip_roll_link
55
+ - right_hip_yaw_link
56
+ - right_knee_link
57
+ - right_ankle_pitch_link
58
+ - right_ankle_roll_link
59
+ - waist_yaw_link
60
+ - waist_roll_link
61
+ - torso_link
62
+ - left_shoulder_pitch_link
63
+ - left_shoulder_roll_link
64
+ - left_shoulder_yaw_link
65
+ - left_elbow_link
66
+ - right_shoulder_pitch_link
67
+ - right_shoulder_roll_link
68
+ - right_shoulder_yaw_link
69
+ - right_elbow_link
70
+ limb_weight_group:
71
+ - - left_hip_pitch_link
72
+ - left_hip_roll_link
73
+ - left_hip_yaw_link
74
+ - left_knee_link
75
+ - left_ankle_pitch_link
76
+ - left_ankle_roll_link
77
+ - - right_hip_pitch_link
78
+ - right_hip_roll_link
79
+ - right_hip_yaw_link
80
+ - right_knee_link
81
+ - right_ankle_pitch_link
82
+ - right_ankle_roll_link
83
+ - - pelvis
84
+ - waist_yaw_link
85
+ - waist_roll_link
86
+ - torso_link
87
+ - - left_shoulder_pitch_link
88
+ - left_shoulder_roll_link
89
+ - left_shoulder_yaw_link
90
+ - left_elbow_link
91
+ - - right_shoulder_pitch_link
92
+ - right_shoulder_roll_link
93
+ - right_shoulder_yaw_link
94
+ - right_elbow_link
95
+ dof_names:
96
+ - left_hip_pitch_link
97
+ - left_hip_roll_link
98
+ - left_hip_yaw_link
99
+ - left_knee_link
100
+ - left_ankle_pitch_link
101
+ - left_ankle_roll_link
102
+ - right_hip_pitch_link
103
+ - right_hip_roll_link
104
+ - right_hip_yaw_link
105
+ - right_knee_link
106
+ - right_ankle_pitch_link
107
+ - right_ankle_roll_link
108
+ - waist_yaw_link
109
+ - waist_roll_link
110
+ - torso_link
111
+ - left_shoulder_pitch_link
112
+ - left_shoulder_roll_link
113
+ - left_shoulder_yaw_link
114
+ - left_elbow_link
115
+ - right_shoulder_pitch_link
116
+ - right_shoulder_roll_link
117
+ - right_shoulder_yaw_link
118
+ - right_elbow_link
119
+ foot_names:
120
+ - left_ankle_roll_link
121
+ - right_ankle_roll_link
122
+ nums_extend_bodies: 3
123
+ extend_config:
124
+ - joint_name: left_hand_link
125
+ parent_name: left_elbow_link
126
+ pos:
127
+ - 0.25
128
+ - 0.0
129
+ - 0.0
130
+ rot:
131
+ - 1.0
132
+ - 0.0
133
+ - 0.0
134
+ - 0.0
135
+ - joint_name: right_hand_link
136
+ parent_name: right_elbow_link
137
+ pos:
138
+ - 0.25
139
+ - 0.0
140
+ - 0.0
141
+ rot:
142
+ - 1.0
143
+ - 0.0
144
+ - 0.0
145
+ - 0.0
146
+ - joint_name: head_link
147
+ parent_name: torso_link
148
+ pos:
149
+ - 0.0
150
+ - 0.0
151
+ - 0.42
152
+ rot:
153
+ - 1.0
154
+ - 0.0
155
+ - 0.0
156
+ - 0.0
157
+ motion_tracking_link:
158
+ - left_hand_link
159
+ - right_hand_link
160
+ - head_link
161
+ lower_body_link:
162
+ - pelvis
163
+ - left_hip_pitch_link
164
+ - left_hip_roll_link
165
+ - left_hip_yaw_link
166
+ - left_knee_link
167
+ - left_ankle_pitch_link
168
+ - left_ankle_roll_link
169
+ - right_hip_pitch_link
170
+ - right_hip_roll_link
171
+ - right_hip_yaw_link
172
+ - right_knee_link
173
+ - right_ankle_pitch_link
174
+ - right_ankle_roll_link
175
+ - waist_yaw_link
176
+ - waist_roll_link
177
+ - torso_link
178
+ upper_body_link:
179
+ - left_shoulder_pitch_link
180
+ - left_shoulder_roll_link
181
+ - left_shoulder_yaw_link
182
+ - left_elbow_link
183
+ - right_shoulder_pitch_link
184
+ - right_shoulder_roll_link
185
+ - right_shoulder_yaw_link
186
+ - right_elbow_link
187
+ - left_hand_link
188
+ - right_hand_link
189
+ - head_link
190
+ pelvis_link: pelvis
191
+ base_link: torso_link
192
+ hips_link:
193
+ - left_hip_pitch_link
194
+ - left_hip_roll_link
195
+ - left_hip_yaw_link
196
+ - right_hip_pitch_link
197
+ - right_hip_roll_link
198
+ - right_hip_yaw_link
199
+ joint_matches:
200
+ - - pelvis
201
+ - Pelvis
202
+ - - left_hip_pitch_link
203
+ - L_Hip
204
+ - - left_knee_link
205
+ - L_Knee
206
+ - - left_ankle_roll_link
207
+ - L_Ankle
208
+ - - right_hip_pitch_link
209
+ - R_Hip
210
+ - - right_knee_link
211
+ - R_Knee
212
+ - - right_ankle_roll_link
213
+ - R_Ankle
214
+ - - left_shoulder_roll_link
215
+ - L_Shoulder
216
+ - - left_elbow_link
217
+ - L_Elbow
218
+ - - left_hand_link
219
+ - L_Hand
220
+ - - right_shoulder_roll_link
221
+ - R_Shoulder
222
+ - - right_elbow_link
223
+ - R_Elbow
224
+ - - right_hand_link
225
+ - R_Hand
226
+ - - head_link
227
+ - Head
228
+ smpl_pose_modifier:
229
+ - Pelvis: '[np.pi/2, 0, np.pi/2]'
230
+ - L_Shoulder: '[0, 0, -np.pi/2]'
231
+ - R_Shoulder: '[0, 0, np.pi/2]'
232
+ - L_Elbow: '[0, -np.pi/2, 0]'
233
+ - R_Elbow: '[0, np.pi/2, 0]'
234
+ visualization:
235
+ customize_color: true
236
+ marker_joint_colors:
237
+ - - 0.929
238
+ - 0.867
239
+ - 0.437
240
+ - - 0.929
241
+ - 0.867
242
+ - 0.437
243
+ - - 0.929
244
+ - 0.867
245
+ - 0.437
246
+ - - 0.929
247
+ - 0.867
248
+ - 0.437
249
+ - - 0.929
250
+ - 0.867
251
+ - 0.437
252
+ - - 0.929
253
+ - 0.867
254
+ - 0.437
255
+ - - 0.929
256
+ - 0.867
257
+ - 0.437
258
+ - - 0.929
259
+ - 0.867
260
+ - 0.437
261
+ - - 0.929
262
+ - 0.867
263
+ - 0.437
264
+ - - 0.929
265
+ - 0.867
266
+ - 0.437
267
+ - - 0.929
268
+ - 0.867
269
+ - 0.437
270
+ - - 0.929
271
+ - 0.867
272
+ - 0.437
273
+ - - 0.929
274
+ - 0.867
275
+ - 0.437
276
+ - - 0.929
277
+ - 0.867
278
+ - 0.437
279
+ - - 0.929
280
+ - 0.867
281
+ - 0.437
282
+ - - 0.929
283
+ - 0.867
284
+ - 0.437
285
+ - - 0.929
286
+ - 0.867
287
+ - 0.437
288
+ - - 0.929
289
+ - 0.867
290
+ - 0.437
291
+ - - 0.929
292
+ - 0.867
293
+ - 0.437
294
+ - - 0.929
295
+ - 0.867
296
+ - 0.437
297
+ - - 0.929
298
+ - 0.867
299
+ - 0.437
300
+ - - 0.929
301
+ - 0.867
302
+ - 0.437
303
+ - - 0.929
304
+ - 0.867
305
+ - 0.437
306
+ - - 0.929
307
+ - 0.867
308
+ - 0.437
309
+ - - 0
310
+ - 0.351
311
+ - 0.613
312
+ - - 0
313
+ - 0.351
314
+ - 0.613
315
+ - - 0
316
+ - 0.351
317
+ - 0.613
318
+ nfeats: 57
319
+ history_len: 2
320
+ future_len: 8
321
+ num_primitive: 8
322
+ batch_size: 512
323
+ weighted_sample: false
324
+ frame_weight: false
325
+ use_weighted_meanstd: false
326
+ action_statistics_path: ./dataset/action_statistics_telemotion.json
327
+ datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat
328
+ common:
329
+ _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset
330
+ datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat
331
+ action_statistics_path: ./dataset/action_statistics_telemotion.json
332
+ robot_cfg:
333
+ motion_lib_type: origin
334
+ asset:
335
+ assetRoot: description/
336
+ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
337
+ humanoid_type: g1_23dof_lock_wrist
338
+ bias_offset: false
339
+ has_self_collision: true
340
+ has_mesh: false
341
+ has_jt_limit: false
342
+ has_dof_subset: true
343
+ has_upright_start: true
344
+ has_smpl_pd_offset: false
345
+ remove_toe: false
346
+ motion_sym_loss: false
347
+ sym_loss_coef: 1
348
+ big_ankle: true
349
+ has_shape_obs: false
350
+ has_shape_obs_disc: false
351
+ has_shape_variation: false
352
+ masterfoot: false
353
+ freeze_toe: false
354
+ freeze_hand: false
355
+ box_body: true
356
+ real_weight: true
357
+ real_weight_porpotion_capsules: true
358
+ real_weight_porpotion_boxes: true
359
+ body_names:
360
+ - pelvis
361
+ - left_hip_pitch_link
362
+ - left_hip_roll_link
363
+ - left_hip_yaw_link
364
+ - left_knee_link
365
+ - left_ankle_pitch_link
366
+ - left_ankle_roll_link
367
+ - right_hip_pitch_link
368
+ - right_hip_roll_link
369
+ - right_hip_yaw_link
370
+ - right_knee_link
371
+ - right_ankle_pitch_link
372
+ - right_ankle_roll_link
373
+ - waist_yaw_link
374
+ - waist_roll_link
375
+ - torso_link
376
+ - left_shoulder_pitch_link
377
+ - left_shoulder_roll_link
378
+ - left_shoulder_yaw_link
379
+ - left_elbow_link
380
+ - right_shoulder_pitch_link
381
+ - right_shoulder_roll_link
382
+ - right_shoulder_yaw_link
383
+ - right_elbow_link
384
+ limb_weight_group:
385
+ - - left_hip_pitch_link
386
+ - left_hip_roll_link
387
+ - left_hip_yaw_link
388
+ - left_knee_link
389
+ - left_ankle_pitch_link
390
+ - left_ankle_roll_link
391
+ - - right_hip_pitch_link
392
+ - right_hip_roll_link
393
+ - right_hip_yaw_link
394
+ - right_knee_link
395
+ - right_ankle_pitch_link
396
+ - right_ankle_roll_link
397
+ - - pelvis
398
+ - waist_yaw_link
399
+ - waist_roll_link
400
+ - torso_link
401
+ - - left_shoulder_pitch_link
402
+ - left_shoulder_roll_link
403
+ - left_shoulder_yaw_link
404
+ - left_elbow_link
405
+ - - right_shoulder_pitch_link
406
+ - right_shoulder_roll_link
407
+ - right_shoulder_yaw_link
408
+ - right_elbow_link
409
+ dof_names:
410
+ - left_hip_pitch_link
411
+ - left_hip_roll_link
412
+ - left_hip_yaw_link
413
+ - left_knee_link
414
+ - left_ankle_pitch_link
415
+ - left_ankle_roll_link
416
+ - right_hip_pitch_link
417
+ - right_hip_roll_link
418
+ - right_hip_yaw_link
419
+ - right_knee_link
420
+ - right_ankle_pitch_link
421
+ - right_ankle_roll_link
422
+ - waist_yaw_link
423
+ - waist_roll_link
424
+ - torso_link
425
+ - left_shoulder_pitch_link
426
+ - left_shoulder_roll_link
427
+ - left_shoulder_yaw_link
428
+ - left_elbow_link
429
+ - right_shoulder_pitch_link
430
+ - right_shoulder_roll_link
431
+ - right_shoulder_yaw_link
432
+ - right_elbow_link
433
+ foot_names:
434
+ - left_ankle_roll_link
435
+ - right_ankle_roll_link
436
+ nums_extend_bodies: 3
437
+ extend_config:
438
+ - joint_name: left_hand_link
439
+ parent_name: left_elbow_link
440
+ pos:
441
+ - 0.25
442
+ - 0.0
443
+ - 0.0
444
+ rot:
445
+ - 1.0
446
+ - 0.0
447
+ - 0.0
448
+ - 0.0
449
+ - joint_name: right_hand_link
450
+ parent_name: right_elbow_link
451
+ pos:
452
+ - 0.25
453
+ - 0.0
454
+ - 0.0
455
+ rot:
456
+ - 1.0
457
+ - 0.0
458
+ - 0.0
459
+ - 0.0
460
+ - joint_name: head_link
461
+ parent_name: torso_link
462
+ pos:
463
+ - 0.0
464
+ - 0.0
465
+ - 0.42
466
+ rot:
467
+ - 1.0
468
+ - 0.0
469
+ - 0.0
470
+ - 0.0
471
+ motion_tracking_link:
472
+ - left_hand_link
473
+ - right_hand_link
474
+ - head_link
475
+ lower_body_link:
476
+ - pelvis
477
+ - left_hip_pitch_link
478
+ - left_hip_roll_link
479
+ - left_hip_yaw_link
480
+ - left_knee_link
481
+ - left_ankle_pitch_link
482
+ - left_ankle_roll_link
483
+ - right_hip_pitch_link
484
+ - right_hip_roll_link
485
+ - right_hip_yaw_link
486
+ - right_knee_link
487
+ - right_ankle_pitch_link
488
+ - right_ankle_roll_link
489
+ - waist_yaw_link
490
+ - waist_roll_link
491
+ - torso_link
492
+ upper_body_link:
493
+ - left_shoulder_pitch_link
494
+ - left_shoulder_roll_link
495
+ - left_shoulder_yaw_link
496
+ - left_elbow_link
497
+ - right_shoulder_pitch_link
498
+ - right_shoulder_roll_link
499
+ - right_shoulder_yaw_link
500
+ - right_elbow_link
501
+ - left_hand_link
502
+ - right_hand_link
503
+ - head_link
504
+ pelvis_link: pelvis
505
+ base_link: torso_link
506
+ hips_link:
507
+ - left_hip_pitch_link
508
+ - left_hip_roll_link
509
+ - left_hip_yaw_link
510
+ - right_hip_pitch_link
511
+ - right_hip_roll_link
512
+ - right_hip_yaw_link
513
+ joint_matches:
514
+ - - pelvis
515
+ - Pelvis
516
+ - - left_hip_pitch_link
517
+ - L_Hip
518
+ - - left_knee_link
519
+ - L_Knee
520
+ - - left_ankle_roll_link
521
+ - L_Ankle
522
+ - - right_hip_pitch_link
523
+ - R_Hip
524
+ - - right_knee_link
525
+ - R_Knee
526
+ - - right_ankle_roll_link
527
+ - R_Ankle
528
+ - - left_shoulder_roll_link
529
+ - L_Shoulder
530
+ - - left_elbow_link
531
+ - L_Elbow
532
+ - - left_hand_link
533
+ - L_Hand
534
+ - - right_shoulder_roll_link
535
+ - R_Shoulder
536
+ - - right_elbow_link
537
+ - R_Elbow
538
+ - - right_hand_link
539
+ - R_Hand
540
+ - - head_link
541
+ - Head
542
+ smpl_pose_modifier:
543
+ - Pelvis: '[np.pi/2, 0, np.pi/2]'
544
+ - L_Shoulder: '[0, 0, -np.pi/2]'
545
+ - R_Shoulder: '[0, 0, np.pi/2]'
546
+ - L_Elbow: '[0, -np.pi/2, 0]'
547
+ - R_Elbow: '[0, np.pi/2, 0]'
548
+ visualization:
549
+ customize_color: true
550
+ marker_joint_colors:
551
+ - - 0.929
552
+ - 0.867
553
+ - 0.437
554
+ - - 0.929
555
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556
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+ - - 0
630
+ - 0.351
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+ - 0.613
632
+ device: cuda
633
+ nfeats: 57
634
+ history_len: 2
635
+ future_len: 8
636
+ num_primitive: 8
637
+ batch_size: 512
638
+ weighted_sample: false
639
+ frame_weight: false
640
+ use_weighted_meanstd: false
641
+ train:
642
+ _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset
643
+ datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat
644
+ action_statistics_path: ./dataset/action_statistics_telemotion.json
645
+ robot_cfg:
646
+ motion_lib_type: origin
647
+ asset:
648
+ assetRoot: description/
649
+ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
650
+ humanoid_type: g1_23dof_lock_wrist
651
+ bias_offset: false
652
+ has_self_collision: true
653
+ has_mesh: false
654
+ has_jt_limit: false
655
+ has_dof_subset: true
656
+ has_upright_start: true
657
+ has_smpl_pd_offset: false
658
+ remove_toe: false
659
+ motion_sym_loss: false
660
+ sym_loss_coef: 1
661
+ big_ankle: true
662
+ has_shape_obs: false
663
+ has_shape_obs_disc: false
664
+ has_shape_variation: false
665
+ masterfoot: false
666
+ freeze_toe: false
667
+ freeze_hand: false
668
+ box_body: true
669
+ real_weight: true
670
+ real_weight_porpotion_capsules: true
671
+ real_weight_porpotion_boxes: true
672
+ body_names:
673
+ - pelvis
674
+ - left_hip_pitch_link
675
+ - left_hip_roll_link
676
+ - left_hip_yaw_link
677
+ - left_knee_link
678
+ - left_ankle_pitch_link
679
+ - left_ankle_roll_link
680
+ - right_hip_pitch_link
681
+ - right_hip_roll_link
682
+ - right_hip_yaw_link
683
+ - right_knee_link
684
+ - right_ankle_pitch_link
685
+ - right_ankle_roll_link
686
+ - waist_yaw_link
687
+ - waist_roll_link
688
+ - torso_link
689
+ - left_shoulder_pitch_link
690
+ - left_shoulder_roll_link
691
+ - left_shoulder_yaw_link
692
+ - left_elbow_link
693
+ - right_shoulder_pitch_link
694
+ - right_shoulder_roll_link
695
+ - right_shoulder_yaw_link
696
+ - right_elbow_link
697
+ limb_weight_group:
698
+ - - left_hip_pitch_link
699
+ - left_hip_roll_link
700
+ - left_hip_yaw_link
701
+ - left_knee_link
702
+ - left_ankle_pitch_link
703
+ - left_ankle_roll_link
704
+ - - right_hip_pitch_link
705
+ - right_hip_roll_link
706
+ - right_hip_yaw_link
707
+ - right_knee_link
708
+ - right_ankle_pitch_link
709
+ - right_ankle_roll_link
710
+ - - pelvis
711
+ - waist_yaw_link
712
+ - waist_roll_link
713
+ - torso_link
714
+ - - left_shoulder_pitch_link
715
+ - left_shoulder_roll_link
716
+ - left_shoulder_yaw_link
717
+ - left_elbow_link
718
+ - - right_shoulder_pitch_link
719
+ - right_shoulder_roll_link
720
+ - right_shoulder_yaw_link
721
+ - right_elbow_link
722
+ dof_names:
723
+ - left_hip_pitch_link
724
+ - left_hip_roll_link
725
+ - left_hip_yaw_link
726
+ - left_knee_link
727
+ - left_ankle_pitch_link
728
+ - left_ankle_roll_link
729
+ - right_hip_pitch_link
730
+ - right_hip_roll_link
731
+ - right_hip_yaw_link
732
+ - right_knee_link
733
+ - right_ankle_pitch_link
734
+ - right_ankle_roll_link
735
+ - waist_yaw_link
736
+ - waist_roll_link
737
+ - torso_link
738
+ - left_shoulder_pitch_link
739
+ - left_shoulder_roll_link
740
+ - left_shoulder_yaw_link
741
+ - left_elbow_link
742
+ - right_shoulder_pitch_link
743
+ - right_shoulder_roll_link
744
+ - right_shoulder_yaw_link
745
+ - right_elbow_link
746
+ foot_names:
747
+ - left_ankle_roll_link
748
+ - right_ankle_roll_link
749
+ nums_extend_bodies: 3
750
+ extend_config:
751
+ - joint_name: left_hand_link
752
+ parent_name: left_elbow_link
753
+ pos:
754
+ - 0.25
755
+ - 0.0
756
+ - 0.0
757
+ rot:
758
+ - 1.0
759
+ - 0.0
760
+ - 0.0
761
+ - 0.0
762
+ - joint_name: right_hand_link
763
+ parent_name: right_elbow_link
764
+ pos:
765
+ - 0.25
766
+ - 0.0
767
+ - 0.0
768
+ rot:
769
+ - 1.0
770
+ - 0.0
771
+ - 0.0
772
+ - 0.0
773
+ - joint_name: head_link
774
+ parent_name: torso_link
775
+ pos:
776
+ - 0.0
777
+ - 0.0
778
+ - 0.42
779
+ rot:
780
+ - 1.0
781
+ - 0.0
782
+ - 0.0
783
+ - 0.0
784
+ motion_tracking_link:
785
+ - left_hand_link
786
+ - right_hand_link
787
+ - head_link
788
+ lower_body_link:
789
+ - pelvis
790
+ - left_hip_pitch_link
791
+ - left_hip_roll_link
792
+ - left_hip_yaw_link
793
+ - left_knee_link
794
+ - left_ankle_pitch_link
795
+ - left_ankle_roll_link
796
+ - right_hip_pitch_link
797
+ - right_hip_roll_link
798
+ - right_hip_yaw_link
799
+ - right_knee_link
800
+ - right_ankle_pitch_link
801
+ - right_ankle_roll_link
802
+ - waist_yaw_link
803
+ - waist_roll_link
804
+ - torso_link
805
+ upper_body_link:
806
+ - left_shoulder_pitch_link
807
+ - left_shoulder_roll_link
808
+ - left_shoulder_yaw_link
809
+ - left_elbow_link
810
+ - right_shoulder_pitch_link
811
+ - right_shoulder_roll_link
812
+ - right_shoulder_yaw_link
813
+ - right_elbow_link
814
+ - left_hand_link
815
+ - right_hand_link
816
+ - head_link
817
+ pelvis_link: pelvis
818
+ base_link: torso_link
819
+ hips_link:
820
+ - left_hip_pitch_link
821
+ - left_hip_roll_link
822
+ - left_hip_yaw_link
823
+ - right_hip_pitch_link
824
+ - right_hip_roll_link
825
+ - right_hip_yaw_link
826
+ joint_matches:
827
+ - - pelvis
828
+ - Pelvis
829
+ - - left_hip_pitch_link
830
+ - L_Hip
831
+ - - left_knee_link
832
+ - L_Knee
833
+ - - left_ankle_roll_link
834
+ - L_Ankle
835
+ - - right_hip_pitch_link
836
+ - R_Hip
837
+ - - right_knee_link
838
+ - R_Knee
839
+ - - right_ankle_roll_link
840
+ - R_Ankle
841
+ - - left_shoulder_roll_link
842
+ - L_Shoulder
843
+ - - left_elbow_link
844
+ - L_Elbow
845
+ - - left_hand_link
846
+ - L_Hand
847
+ - - right_shoulder_roll_link
848
+ - R_Shoulder
849
+ - - right_elbow_link
850
+ - R_Elbow
851
+ - - right_hand_link
852
+ - R_Hand
853
+ - - head_link
854
+ - Head
855
+ smpl_pose_modifier:
856
+ - Pelvis: '[np.pi/2, 0, np.pi/2]'
857
+ - L_Shoulder: '[0, 0, -np.pi/2]'
858
+ - R_Shoulder: '[0, 0, np.pi/2]'
859
+ - L_Elbow: '[0, -np.pi/2, 0]'
860
+ - R_Elbow: '[0, np.pi/2, 0]'
861
+ visualization:
862
+ customize_color: true
863
+ marker_joint_colors:
864
+ - - 0.929
865
+ - 0.867
866
+ - 0.437
867
+ - - 0.929
868
+ - 0.867
869
+ - 0.437
870
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871
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872
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873
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942
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945
+ device: cuda
946
+ nfeats: 57
947
+ history_len: 2
948
+ future_len: 8
949
+ num_primitive: 8
950
+ batch_size: 512
951
+ weighted_sample: false
952
+ frame_weight: false
953
+ use_weighted_meanstd: false
954
+ split: train
955
+ val:
956
+ _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset
957
+ datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat
958
+ action_statistics_path: ./dataset/action_statistics_telemotion.json
959
+ robot_cfg:
960
+ motion_lib_type: origin
961
+ asset:
962
+ assetRoot: description/
963
+ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
964
+ humanoid_type: g1_23dof_lock_wrist
965
+ bias_offset: false
966
+ has_self_collision: true
967
+ has_mesh: false
968
+ has_jt_limit: false
969
+ has_dof_subset: true
970
+ has_upright_start: true
971
+ has_smpl_pd_offset: false
972
+ remove_toe: false
973
+ motion_sym_loss: false
974
+ sym_loss_coef: 1
975
+ big_ankle: true
976
+ has_shape_obs: false
977
+ has_shape_obs_disc: false
978
+ has_shape_variation: false
979
+ masterfoot: false
980
+ freeze_toe: false
981
+ freeze_hand: false
982
+ box_body: true
983
+ real_weight: true
984
+ real_weight_porpotion_capsules: true
985
+ real_weight_porpotion_boxes: true
986
+ body_names:
987
+ - pelvis
988
+ - left_hip_pitch_link
989
+ - left_hip_roll_link
990
+ - left_hip_yaw_link
991
+ - left_knee_link
992
+ - left_ankle_pitch_link
993
+ - left_ankle_roll_link
994
+ - right_hip_pitch_link
995
+ - right_hip_roll_link
996
+ - right_hip_yaw_link
997
+ - right_knee_link
998
+ - right_ankle_pitch_link
999
+ - right_ankle_roll_link
1000
+ - waist_yaw_link
1001
+ - waist_roll_link
1002
+ - torso_link
1003
+ - left_shoulder_pitch_link
1004
+ - left_shoulder_roll_link
1005
+ - left_shoulder_yaw_link
1006
+ - left_elbow_link
1007
+ - right_shoulder_pitch_link
1008
+ - right_shoulder_roll_link
1009
+ - right_shoulder_yaw_link
1010
+ - right_elbow_link
1011
+ limb_weight_group:
1012
+ - - left_hip_pitch_link
1013
+ - left_hip_roll_link
1014
+ - left_hip_yaw_link
1015
+ - left_knee_link
1016
+ - left_ankle_pitch_link
1017
+ - left_ankle_roll_link
1018
+ - - right_hip_pitch_link
1019
+ - right_hip_roll_link
1020
+ - right_hip_yaw_link
1021
+ - right_knee_link
1022
+ - right_ankle_pitch_link
1023
+ - right_ankle_roll_link
1024
+ - - pelvis
1025
+ - waist_yaw_link
1026
+ - waist_roll_link
1027
+ - torso_link
1028
+ - - left_shoulder_pitch_link
1029
+ - left_shoulder_roll_link
1030
+ - left_shoulder_yaw_link
1031
+ - left_elbow_link
1032
+ - - right_shoulder_pitch_link
1033
+ - right_shoulder_roll_link
1034
+ - right_shoulder_yaw_link
1035
+ - right_elbow_link
1036
+ dof_names:
1037
+ - left_hip_pitch_link
1038
+ - left_hip_roll_link
1039
+ - left_hip_yaw_link
1040
+ - left_knee_link
1041
+ - left_ankle_pitch_link
1042
+ - left_ankle_roll_link
1043
+ - right_hip_pitch_link
1044
+ - right_hip_roll_link
1045
+ - right_hip_yaw_link
1046
+ - right_knee_link
1047
+ - right_ankle_pitch_link
1048
+ - right_ankle_roll_link
1049
+ - waist_yaw_link
1050
+ - waist_roll_link
1051
+ - torso_link
1052
+ - left_shoulder_pitch_link
1053
+ - left_shoulder_roll_link
1054
+ - left_shoulder_yaw_link
1055
+ - left_elbow_link
1056
+ - right_shoulder_pitch_link
1057
+ - right_shoulder_roll_link
1058
+ - right_shoulder_yaw_link
1059
+ - right_elbow_link
1060
+ foot_names:
1061
+ - left_ankle_roll_link
1062
+ - right_ankle_roll_link
1063
+ nums_extend_bodies: 3
1064
+ extend_config:
1065
+ - joint_name: left_hand_link
1066
+ parent_name: left_elbow_link
1067
+ pos:
1068
+ - 0.25
1069
+ - 0.0
1070
+ - 0.0
1071
+ rot:
1072
+ - 1.0
1073
+ - 0.0
1074
+ - 0.0
1075
+ - 0.0
1076
+ - joint_name: right_hand_link
1077
+ parent_name: right_elbow_link
1078
+ pos:
1079
+ - 0.25
1080
+ - 0.0
1081
+ - 0.0
1082
+ rot:
1083
+ - 1.0
1084
+ - 0.0
1085
+ - 0.0
1086
+ - 0.0
1087
+ - joint_name: head_link
1088
+ parent_name: torso_link
1089
+ pos:
1090
+ - 0.0
1091
+ - 0.0
1092
+ - 0.42
1093
+ rot:
1094
+ - 1.0
1095
+ - 0.0
1096
+ - 0.0
1097
+ - 0.0
1098
+ motion_tracking_link:
1099
+ - left_hand_link
1100
+ - right_hand_link
1101
+ - head_link
1102
+ lower_body_link:
1103
+ - pelvis
1104
+ - left_hip_pitch_link
1105
+ - left_hip_roll_link
1106
+ - left_hip_yaw_link
1107
+ - left_knee_link
1108
+ - left_ankle_pitch_link
1109
+ - left_ankle_roll_link
1110
+ - right_hip_pitch_link
1111
+ - right_hip_roll_link
1112
+ - right_hip_yaw_link
1113
+ - right_knee_link
1114
+ - right_ankle_pitch_link
1115
+ - right_ankle_roll_link
1116
+ - waist_yaw_link
1117
+ - waist_roll_link
1118
+ - torso_link
1119
+ upper_body_link:
1120
+ - left_shoulder_pitch_link
1121
+ - left_shoulder_roll_link
1122
+ - left_shoulder_yaw_link
1123
+ - left_elbow_link
1124
+ - right_shoulder_pitch_link
1125
+ - right_shoulder_roll_link
1126
+ - right_shoulder_yaw_link
1127
+ - right_elbow_link
1128
+ - left_hand_link
1129
+ - right_hand_link
1130
+ - head_link
1131
+ pelvis_link: pelvis
1132
+ base_link: torso_link
1133
+ hips_link:
1134
+ - left_hip_pitch_link
1135
+ - left_hip_roll_link
1136
+ - left_hip_yaw_link
1137
+ - right_hip_pitch_link
1138
+ - right_hip_roll_link
1139
+ - right_hip_yaw_link
1140
+ joint_matches:
1141
+ - - pelvis
1142
+ - Pelvis
1143
+ - - left_hip_pitch_link
1144
+ - L_Hip
1145
+ - - left_knee_link
1146
+ - L_Knee
1147
+ - - left_ankle_roll_link
1148
+ - L_Ankle
1149
+ - - right_hip_pitch_link
1150
+ - R_Hip
1151
+ - - right_knee_link
1152
+ - R_Knee
1153
+ - - right_ankle_roll_link
1154
+ - R_Ankle
1155
+ - - left_shoulder_roll_link
1156
+ - L_Shoulder
1157
+ - - left_elbow_link
1158
+ - L_Elbow
1159
+ - - left_hand_link
1160
+ - L_Hand
1161
+ - - right_shoulder_roll_link
1162
+ - R_Shoulder
1163
+ - - right_elbow_link
1164
+ - R_Elbow
1165
+ - - right_hand_link
1166
+ - R_Hand
1167
+ - - head_link
1168
+ - Head
1169
+ smpl_pose_modifier:
1170
+ - Pelvis: '[np.pi/2, 0, np.pi/2]'
1171
+ - L_Shoulder: '[0, 0, -np.pi/2]'
1172
+ - R_Shoulder: '[0, 0, np.pi/2]'
1173
+ - L_Elbow: '[0, -np.pi/2, 0]'
1174
+ - R_Elbow: '[0, np.pi/2, 0]'
1175
+ visualization:
1176
+ customize_color: true
1177
+ marker_joint_colors:
1178
+ - - 0.929
1179
+ - 0.867
1180
+ - 0.437
1181
+ - - 0.929
1182
+ - 0.867
1183
+ - 0.437
1184
+ - - 0.929
1185
+ - 0.867
1186
+ - 0.437
1187
+ - - 0.929
1188
+ - 0.867
1189
+ - 0.437
1190
+ - - 0.929
1191
+ - 0.867
1192
+ - 0.437
1193
+ - - 0.929
1194
+ - 0.867
1195
+ - 0.437
1196
+ - - 0.929
1197
+ - 0.867
1198
+ - 0.437
1199
+ - - 0.929
1200
+ - 0.867
1201
+ - 0.437
1202
+ - - 0.929
1203
+ - 0.867
1204
+ - 0.437
1205
+ - - 0.929
1206
+ - 0.867
1207
+ - 0.437
1208
+ - - 0.929
1209
+ - 0.867
1210
+ - 0.437
1211
+ - - 0.929
1212
+ - 0.867
1213
+ - 0.437
1214
+ - - 0.929
1215
+ - 0.867
1216
+ - 0.437
1217
+ - - 0.929
1218
+ - 0.867
1219
+ - 0.437
1220
+ - - 0.929
1221
+ - 0.867
1222
+ - 0.437
1223
+ - - 0.929
1224
+ - 0.867
1225
+ - 0.437
1226
+ - - 0.929
1227
+ - 0.867
1228
+ - 0.437
1229
+ - - 0.929
1230
+ - 0.867
1231
+ - 0.437
1232
+ - - 0.929
1233
+ - 0.867
1234
+ - 0.437
1235
+ - - 0.929
1236
+ - 0.867
1237
+ - 0.437
1238
+ - - 0.929
1239
+ - 0.867
1240
+ - 0.437
1241
+ - - 0.929
1242
+ - 0.867
1243
+ - 0.437
1244
+ - - 0.929
1245
+ - 0.867
1246
+ - 0.437
1247
+ - - 0.929
1248
+ - 0.867
1249
+ - 0.437
1250
+ - - 0
1251
+ - 0.351
1252
+ - 0.613
1253
+ - - 0
1254
+ - 0.351
1255
+ - 0.613
1256
+ - - 0
1257
+ - 0.351
1258
+ - 0.613
1259
+ device: cuda
1260
+ nfeats: 57
1261
+ history_len: 2
1262
+ future_len: 8
1263
+ num_primitive: 8
1264
+ batch_size: 512
1265
+ weighted_sample: false
1266
+ frame_weight: false
1267
+ use_weighted_meanstd: false
1268
+ split: val
1269
+ vae:
1270
+ _target_: robotmdar.model.mld_vae.AutoMldVae
1271
+ nfeats: 57
1272
+ latent_dim:
1273
+ - 1
1274
+ - 128
1275
+ h_dim: 512
1276
+ ff_size: 1024
1277
+ num_layers: 9
1278
+ num_heads: 4
1279
+ dropout: 0.1
1280
+ arch: all_encoder
1281
+ normalize_before: false
1282
+ activation: gelu
1283
+ position_embedding: learned
1284
+ denoiser:
1285
+ _target_: robotmdar.model.mld_denoiser.DenoiserTransformer
1286
+ h_dim: 512
1287
+ ff_size: 1024
1288
+ num_layers: 8
1289
+ num_heads: 4
1290
+ dropout: 0.1
1291
+ activation: gelu
1292
+ clip_dim: 512
1293
+ history_shape:
1294
+ - 2
1295
+ - 57
1296
+ noise_shape:
1297
+ - 1
1298
+ - 128
1299
+ cond_mask_prob: 0.1
1300
+ diffusion:
1301
+ num_timesteps: 5
1302
+ model:
1303
+ _target_: robotmdar.diffusion.respace.SpacedDiffusion
1304
+ use_timesteps:
1305
+ _target_: robotmdar.diffusion.respace.space_timesteps
1306
+ num_timesteps: 5
1307
+ section_counts:
1308
+ - 5
1309
+ betas:
1310
+ _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule
1311
+ schedule_name: cosine
1312
+ num_diffusion_timesteps: 5
1313
+ model_mean_type:
1314
+ _target_: robotmdar.dtype.enum.make_enum
1315
+ enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType
1316
+ name: START_X
1317
+ model_var_type:
1318
+ _target_: robotmdar.dtype.enum.make_enum
1319
+ enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType
1320
+ name: FIXED_SMALL
1321
+ loss_type:
1322
+ _target_: robotmdar.dtype.enum.make_enum
1323
+ enum_path: robotmdar.diffusion.gaussian_diffusion.LossType
1324
+ name: MSE
1325
+ rescale_timesteps: false
1326
+ schedule_sampler:
1327
+ _target_: robotmdar.diffusion.resample.create_named_schedule_sampler
1328
+ name: uniform
1329
+ diffusion:
1330
+ _target_: robotmdar.diffusion.respace.SpacedDiffusion
1331
+ use_timesteps:
1332
+ _target_: robotmdar.diffusion.respace.space_timesteps
1333
+ num_timesteps: 5
1334
+ section_counts:
1335
+ - 5
1336
+ betas:
1337
+ _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule
1338
+ schedule_name: cosine
1339
+ num_diffusion_timesteps: 5
1340
+ model_mean_type:
1341
+ _target_: robotmdar.dtype.enum.make_enum
1342
+ enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType
1343
+ name: START_X
1344
+ model_var_type:
1345
+ _target_: robotmdar.dtype.enum.make_enum
1346
+ enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType
1347
+ name: FIXED_SMALL
1348
+ loss_type:
1349
+ _target_: robotmdar.dtype.enum.make_enum
1350
+ enum_path: robotmdar.diffusion.gaussian_diffusion.LossType
1351
+ name: MSE
1352
+ rescale_timesteps: false
1353
+ train:
1354
+ opt:
1355
+ lr: 0.0001
1356
+ _target_: robotmdar.torch.optim.Adam
1357
+ manager:
1358
+ _target_: robotmdar.train.manager.DARManager
1359
+ stages:
1360
+ - 50000
1361
+ - 50000
1362
+ - 50000
1363
+ - 150000
1364
+ use_rollout: false
1365
+ use_static_pose: false
1366
+ static_prob: 0.001
1367
+ static_perturbation_scale: 0.0
1368
+ save_every: 5000
1369
+ eval_every: 1000000
1370
+ eval_steps: 10
1371
+ device: cuda
1372
+ save_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357
1373
+ learning_rate: 0.0001
1374
+ anneal_lr: true
1375
+ max_grad_norm: 1.0
1376
+ use_ema: false
1377
+ ema_decay: 0.999
1378
+ loss_weight:
1379
+ rec: 1.0
1380
+ kl: 0.0001
1381
+ body_trans: 0.05
1382
+ body_rot: 0.01
1383
+ dof_pos: 0.03
1384
+ dof_vel: 1.0e-05
1385
+ foot_contact: 0.01
1386
+ fk_joints_rec: 1.0
1387
+ joints_consistency: 1.0
1388
+ joints_delta: 1.0
1389
+ trans_delta: 1.0
1390
+ orient_delta: 1.0
1391
+ dof_delta: 1.0
1392
+ smooth: 0.0
1393
+ quantize_rot: 0.0
1394
+ quantize_trans: 0.0
1395
+ drift_yaw: 0.0
1396
+ drift_xy: 0.0
1397
+ latent_rec: 1.0
1398
+ ckpt:
1399
+ vae: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullTrainabilityResume/train-mvae-20260418_160348/ckpt_10000.pth
1400
+ dar: null
1401
+ load_cfg: null
1402
+ platform:
1403
+ _target_: robotmdar.train.train_platforms.TensorboardPlatform
1404
+ save_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357
1405
+ use_full_sample: false
1406
+ skeleton:
1407
+ motion_lib_type: origin
1408
+ asset:
1409
+ assetRoot: description/
1410
+ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml
1411
+ humanoid_type: g1_23dof_lock_wrist
1412
+ bias_offset: false
1413
+ has_self_collision: true
1414
+ has_mesh: false
1415
+ has_jt_limit: false
1416
+ has_dof_subset: true
1417
+ has_upright_start: true
1418
+ has_smpl_pd_offset: false
1419
+ remove_toe: false
1420
+ motion_sym_loss: false
1421
+ sym_loss_coef: 1
1422
+ big_ankle: true
1423
+ has_shape_obs: false
1424
+ has_shape_obs_disc: false
1425
+ has_shape_variation: false
1426
+ masterfoot: false
1427
+ freeze_toe: false
1428
+ freeze_hand: false
1429
+ box_body: true
1430
+ real_weight: true
1431
+ real_weight_porpotion_capsules: true
1432
+ real_weight_porpotion_boxes: true
1433
+ body_names:
1434
+ - pelvis
1435
+ - left_hip_pitch_link
1436
+ - left_hip_roll_link
1437
+ - left_hip_yaw_link
1438
+ - left_knee_link
1439
+ - left_ankle_pitch_link
1440
+ - left_ankle_roll_link
1441
+ - right_hip_pitch_link
1442
+ - right_hip_roll_link
1443
+ - right_hip_yaw_link
1444
+ - right_knee_link
1445
+ - right_ankle_pitch_link
1446
+ - right_ankle_roll_link
1447
+ - waist_yaw_link
1448
+ - waist_roll_link
1449
+ - torso_link
1450
+ - left_shoulder_pitch_link
1451
+ - left_shoulder_roll_link
1452
+ - left_shoulder_yaw_link
1453
+ - left_elbow_link
1454
+ - right_shoulder_pitch_link
1455
+ - right_shoulder_roll_link
1456
+ - right_shoulder_yaw_link
1457
+ - right_elbow_link
1458
+ limb_weight_group:
1459
+ - - left_hip_pitch_link
1460
+ - left_hip_roll_link
1461
+ - left_hip_yaw_link
1462
+ - left_knee_link
1463
+ - left_ankle_pitch_link
1464
+ - left_ankle_roll_link
1465
+ - - right_hip_pitch_link
1466
+ - right_hip_roll_link
1467
+ - right_hip_yaw_link
1468
+ - right_knee_link
1469
+ - right_ankle_pitch_link
1470
+ - right_ankle_roll_link
1471
+ - - pelvis
1472
+ - waist_yaw_link
1473
+ - waist_roll_link
1474
+ - torso_link
1475
+ - - left_shoulder_pitch_link
1476
+ - left_shoulder_roll_link
1477
+ - left_shoulder_yaw_link
1478
+ - left_elbow_link
1479
+ - - right_shoulder_pitch_link
1480
+ - right_shoulder_roll_link
1481
+ - right_shoulder_yaw_link
1482
+ - right_elbow_link
1483
+ dof_names:
1484
+ - left_hip_pitch_link
1485
+ - left_hip_roll_link
1486
+ - left_hip_yaw_link
1487
+ - left_knee_link
1488
+ - left_ankle_pitch_link
1489
+ - left_ankle_roll_link
1490
+ - right_hip_pitch_link
1491
+ - right_hip_roll_link
1492
+ - right_hip_yaw_link
1493
+ - right_knee_link
1494
+ - right_ankle_pitch_link
1495
+ - right_ankle_roll_link
1496
+ - waist_yaw_link
1497
+ - waist_roll_link
1498
+ - torso_link
1499
+ - left_shoulder_pitch_link
1500
+ - left_shoulder_roll_link
1501
+ - left_shoulder_yaw_link
1502
+ - left_elbow_link
1503
+ - right_shoulder_pitch_link
1504
+ - right_shoulder_roll_link
1505
+ - right_shoulder_yaw_link
1506
+ - right_elbow_link
1507
+ foot_names:
1508
+ - left_ankle_roll_link
1509
+ - right_ankle_roll_link
1510
+ nums_extend_bodies: 3
1511
+ extend_config:
1512
+ - joint_name: left_hand_link
1513
+ parent_name: left_elbow_link
1514
+ pos:
1515
+ - 0.25
1516
+ - 0.0
1517
+ - 0.0
1518
+ rot:
1519
+ - 1.0
1520
+ - 0.0
1521
+ - 0.0
1522
+ - 0.0
1523
+ - joint_name: right_hand_link
1524
+ parent_name: right_elbow_link
1525
+ pos:
1526
+ - 0.25
1527
+ - 0.0
1528
+ - 0.0
1529
+ rot:
1530
+ - 1.0
1531
+ - 0.0
1532
+ - 0.0
1533
+ - 0.0
1534
+ - joint_name: head_link
1535
+ parent_name: torso_link
1536
+ pos:
1537
+ - 0.0
1538
+ - 0.0
1539
+ - 0.42
1540
+ rot:
1541
+ - 1.0
1542
+ - 0.0
1543
+ - 0.0
1544
+ - 0.0
1545
+ motion_tracking_link:
1546
+ - left_hand_link
1547
+ - right_hand_link
1548
+ - head_link
1549
+ lower_body_link:
1550
+ - pelvis
1551
+ - left_hip_pitch_link
1552
+ - left_hip_roll_link
1553
+ - left_hip_yaw_link
1554
+ - left_knee_link
1555
+ - left_ankle_pitch_link
1556
+ - left_ankle_roll_link
1557
+ - right_hip_pitch_link
1558
+ - right_hip_roll_link
1559
+ - right_hip_yaw_link
1560
+ - right_knee_link
1561
+ - right_ankle_pitch_link
1562
+ - right_ankle_roll_link
1563
+ - waist_yaw_link
1564
+ - waist_roll_link
1565
+ - torso_link
1566
+ upper_body_link:
1567
+ - left_shoulder_pitch_link
1568
+ - left_shoulder_roll_link
1569
+ - left_shoulder_yaw_link
1570
+ - left_elbow_link
1571
+ - right_shoulder_pitch_link
1572
+ - right_shoulder_roll_link
1573
+ - right_shoulder_yaw_link
1574
+ - right_elbow_link
1575
+ - left_hand_link
1576
+ - right_hand_link
1577
+ - head_link
1578
+ pelvis_link: pelvis
1579
+ base_link: torso_link
1580
+ hips_link:
1581
+ - left_hip_pitch_link
1582
+ - left_hip_roll_link
1583
+ - left_hip_yaw_link
1584
+ - right_hip_pitch_link
1585
+ - right_hip_roll_link
1586
+ - right_hip_yaw_link
1587
+ joint_matches:
1588
+ - - pelvis
1589
+ - Pelvis
1590
+ - - left_hip_pitch_link
1591
+ - L_Hip
1592
+ - - left_knee_link
1593
+ - L_Knee
1594
+ - - left_ankle_roll_link
1595
+ - L_Ankle
1596
+ - - right_hip_pitch_link
1597
+ - R_Hip
1598
+ - - right_knee_link
1599
+ - R_Knee
1600
+ - - right_ankle_roll_link
1601
+ - R_Ankle
1602
+ - - left_shoulder_roll_link
1603
+ - L_Shoulder
1604
+ - - left_elbow_link
1605
+ - L_Elbow
1606
+ - - left_hand_link
1607
+ - L_Hand
1608
+ - - right_shoulder_roll_link
1609
+ - R_Shoulder
1610
+ - - right_elbow_link
1611
+ - R_Elbow
1612
+ - - right_hand_link
1613
+ - R_Hand
1614
+ - - head_link
1615
+ - Head
1616
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+ 2026-04-18 18:13:59.488 | INFO | robotmdar.dtype.logger:set:46 - Experiment directory: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357
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