project_name: RobotMDAR expname: OfficialFullDARFromMVAE10000 task: train-dar seed: 0 device: cuda timestamp: '20260418_181357' base_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs experiment_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357 nfeats: 57 foot_dof_indices: left_foot: 5 right_foot: 11 ckpt: 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 dar: null load_cfg: null data: skeleton: motion_lib_type: origin asset: assetRoot: description/ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml humanoid_type: g1_23dof_lock_wrist bias_offset: false has_self_collision: true has_mesh: false has_jt_limit: false has_dof_subset: true has_upright_start: true has_smpl_pd_offset: false remove_toe: false motion_sym_loss: false sym_loss_coef: 1 big_ankle: true has_shape_obs: false has_shape_obs_disc: false has_shape_variation: false masterfoot: false freeze_toe: false freeze_hand: false box_body: true real_weight: true real_weight_porpotion_capsules: true real_weight_porpotion_boxes: true body_names: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link limb_weight_group: - - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - - pelvis - waist_yaw_link - waist_roll_link - torso_link - - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link dof_names: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link foot_names: - left_ankle_roll_link - right_ankle_roll_link nums_extend_bodies: 3 extend_config: - joint_name: left_hand_link parent_name: left_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: right_hand_link parent_name: right_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: head_link parent_name: torso_link pos: - 0.0 - 0.0 - 0.42 rot: - 1.0 - 0.0 - 0.0 - 0.0 motion_tracking_link: - left_hand_link - right_hand_link - head_link lower_body_link: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link upper_body_link: - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link - left_hand_link - right_hand_link - head_link pelvis_link: pelvis base_link: torso_link hips_link: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link joint_matches: - - pelvis - Pelvis - - left_hip_pitch_link - L_Hip - - left_knee_link - L_Knee - - left_ankle_roll_link - L_Ankle - - right_hip_pitch_link - R_Hip - - right_knee_link - R_Knee - - right_ankle_roll_link - R_Ankle - - left_shoulder_roll_link - L_Shoulder - - left_elbow_link - L_Elbow - - left_hand_link - L_Hand - - right_shoulder_roll_link - R_Shoulder - - right_elbow_link - R_Elbow - - right_hand_link - R_Hand - - head_link - Head smpl_pose_modifier: - Pelvis: '[np.pi/2, 0, np.pi/2]' - L_Shoulder: '[0, 0, -np.pi/2]' - R_Shoulder: '[0, 0, np.pi/2]' - L_Elbow: '[0, -np.pi/2, 0]' - R_Elbow: '[0, np.pi/2, 0]' visualization: customize_color: true marker_joint_colors: - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 nfeats: 57 history_len: 2 future_len: 8 num_primitive: 8 batch_size: 512 weighted_sample: false frame_weight: false use_weighted_meanstd: false action_statistics_path: ./dataset/action_statistics_telemotion.json datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat common: _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat action_statistics_path: ./dataset/action_statistics_telemotion.json robot_cfg: motion_lib_type: origin asset: assetRoot: description/ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml humanoid_type: g1_23dof_lock_wrist bias_offset: false has_self_collision: true has_mesh: false has_jt_limit: false has_dof_subset: true has_upright_start: true has_smpl_pd_offset: false remove_toe: false motion_sym_loss: false sym_loss_coef: 1 big_ankle: true has_shape_obs: false has_shape_obs_disc: false has_shape_variation: false masterfoot: false freeze_toe: false freeze_hand: false box_body: true real_weight: true real_weight_porpotion_capsules: true real_weight_porpotion_boxes: true body_names: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link limb_weight_group: - - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - - pelvis - waist_yaw_link - waist_roll_link - torso_link - - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link dof_names: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link foot_names: - left_ankle_roll_link - right_ankle_roll_link nums_extend_bodies: 3 extend_config: - joint_name: left_hand_link parent_name: left_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: right_hand_link parent_name: right_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: head_link parent_name: torso_link pos: - 0.0 - 0.0 - 0.42 rot: - 1.0 - 0.0 - 0.0 - 0.0 motion_tracking_link: - left_hand_link - right_hand_link - head_link lower_body_link: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link upper_body_link: - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link - left_hand_link - right_hand_link - head_link pelvis_link: pelvis base_link: torso_link hips_link: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link joint_matches: - - pelvis - Pelvis - - left_hip_pitch_link - L_Hip - - left_knee_link - L_Knee - - left_ankle_roll_link - L_Ankle - - right_hip_pitch_link - R_Hip - - right_knee_link - R_Knee - - right_ankle_roll_link - R_Ankle - - left_shoulder_roll_link - L_Shoulder - - left_elbow_link - L_Elbow - - left_hand_link - L_Hand - - right_shoulder_roll_link - R_Shoulder - - right_elbow_link - R_Elbow - - right_hand_link - R_Hand - - head_link - Head smpl_pose_modifier: - Pelvis: '[np.pi/2, 0, np.pi/2]' - L_Shoulder: '[0, 0, -np.pi/2]' - R_Shoulder: '[0, 0, np.pi/2]' - L_Elbow: '[0, -np.pi/2, 0]' - R_Elbow: '[0, np.pi/2, 0]' visualization: customize_color: true marker_joint_colors: - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 device: cuda nfeats: 57 history_len: 2 future_len: 8 num_primitive: 8 batch_size: 512 weighted_sample: false frame_weight: false use_weighted_meanstd: false train: _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat action_statistics_path: ./dataset/action_statistics_telemotion.json robot_cfg: motion_lib_type: origin asset: assetRoot: description/ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml humanoid_type: g1_23dof_lock_wrist bias_offset: false has_self_collision: true has_mesh: false has_jt_limit: false has_dof_subset: true has_upright_start: true has_smpl_pd_offset: false remove_toe: false motion_sym_loss: false sym_loss_coef: 1 big_ankle: true has_shape_obs: false has_shape_obs_disc: false has_shape_variation: false masterfoot: false freeze_toe: false freeze_hand: false box_body: true real_weight: true real_weight_porpotion_capsules: true real_weight_porpotion_boxes: true body_names: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link limb_weight_group: - - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - - pelvis - waist_yaw_link - waist_roll_link - torso_link - - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link dof_names: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link foot_names: - left_ankle_roll_link - right_ankle_roll_link nums_extend_bodies: 3 extend_config: - joint_name: left_hand_link parent_name: left_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: right_hand_link parent_name: right_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: head_link parent_name: torso_link pos: - 0.0 - 0.0 - 0.42 rot: - 1.0 - 0.0 - 0.0 - 0.0 motion_tracking_link: - left_hand_link - right_hand_link - head_link lower_body_link: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link upper_body_link: - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link - left_hand_link - right_hand_link - head_link pelvis_link: pelvis base_link: torso_link hips_link: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link joint_matches: - - pelvis - Pelvis - - left_hip_pitch_link - L_Hip - - left_knee_link - L_Knee - - left_ankle_roll_link - L_Ankle - - right_hip_pitch_link - R_Hip - - right_knee_link - R_Knee - - right_ankle_roll_link - R_Ankle - - left_shoulder_roll_link - L_Shoulder - - left_elbow_link - L_Elbow - - left_hand_link - L_Hand - - right_shoulder_roll_link - R_Shoulder - - right_elbow_link - R_Elbow - - right_hand_link - R_Hand - - head_link - Head smpl_pose_modifier: - Pelvis: '[np.pi/2, 0, np.pi/2]' - L_Shoulder: '[0, 0, -np.pi/2]' - R_Shoulder: '[0, 0, np.pi/2]' - L_Elbow: '[0, -np.pi/2, 0]' - R_Elbow: '[0, np.pi/2, 0]' visualization: customize_color: true marker_joint_colors: - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 device: cuda nfeats: 57 history_len: 2 future_len: 8 num_primitive: 8 batch_size: 512 weighted_sample: false frame_weight: false use_weighted_meanstd: false split: train val: _target_: robotmdar.dataloader.data.SkeletonPrimitiveDataset datadir: /data/haozhe/zzn/VAR_FM/ws/project/dataset/HumanML3D_babel_compat action_statistics_path: ./dataset/action_statistics_telemotion.json robot_cfg: motion_lib_type: origin asset: assetRoot: description/ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml humanoid_type: g1_23dof_lock_wrist bias_offset: false has_self_collision: true has_mesh: false has_jt_limit: false has_dof_subset: true has_upright_start: true has_smpl_pd_offset: false remove_toe: false motion_sym_loss: false sym_loss_coef: 1 big_ankle: true has_shape_obs: false has_shape_obs_disc: false has_shape_variation: false masterfoot: false freeze_toe: false freeze_hand: false box_body: true real_weight: true real_weight_porpotion_capsules: true real_weight_porpotion_boxes: true body_names: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link limb_weight_group: - - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - - pelvis - waist_yaw_link - waist_roll_link - torso_link - - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link dof_names: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link foot_names: - left_ankle_roll_link - right_ankle_roll_link nums_extend_bodies: 3 extend_config: - joint_name: left_hand_link parent_name: left_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: right_hand_link parent_name: right_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: head_link parent_name: torso_link pos: - 0.0 - 0.0 - 0.42 rot: - 1.0 - 0.0 - 0.0 - 0.0 motion_tracking_link: - left_hand_link - right_hand_link - head_link lower_body_link: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link upper_body_link: - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link - left_hand_link - right_hand_link - head_link pelvis_link: pelvis base_link: torso_link hips_link: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link joint_matches: - - pelvis - Pelvis - - left_hip_pitch_link - L_Hip - - left_knee_link - L_Knee - - left_ankle_roll_link - L_Ankle - - right_hip_pitch_link - R_Hip - - right_knee_link - R_Knee - - right_ankle_roll_link - R_Ankle - - left_shoulder_roll_link - L_Shoulder - - left_elbow_link - L_Elbow - - left_hand_link - L_Hand - - right_shoulder_roll_link - R_Shoulder - - right_elbow_link - R_Elbow - - right_hand_link - R_Hand - - head_link - Head smpl_pose_modifier: - Pelvis: '[np.pi/2, 0, np.pi/2]' - L_Shoulder: '[0, 0, -np.pi/2]' - R_Shoulder: '[0, 0, np.pi/2]' - L_Elbow: '[0, -np.pi/2, 0]' - R_Elbow: '[0, np.pi/2, 0]' visualization: customize_color: true marker_joint_colors: - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 device: cuda nfeats: 57 history_len: 2 future_len: 8 num_primitive: 8 batch_size: 512 weighted_sample: false frame_weight: false use_weighted_meanstd: false split: val vae: _target_: robotmdar.model.mld_vae.AutoMldVae nfeats: 57 latent_dim: - 1 - 128 h_dim: 512 ff_size: 1024 num_layers: 9 num_heads: 4 dropout: 0.1 arch: all_encoder normalize_before: false activation: gelu position_embedding: learned denoiser: _target_: robotmdar.model.mld_denoiser.DenoiserTransformer h_dim: 512 ff_size: 1024 num_layers: 8 num_heads: 4 dropout: 0.1 activation: gelu clip_dim: 512 history_shape: - 2 - 57 noise_shape: - 1 - 128 cond_mask_prob: 0.1 diffusion: num_timesteps: 5 model: _target_: robotmdar.diffusion.respace.SpacedDiffusion use_timesteps: _target_: robotmdar.diffusion.respace.space_timesteps num_timesteps: 5 section_counts: - 5 betas: _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule schedule_name: cosine num_diffusion_timesteps: 5 model_mean_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType name: START_X model_var_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType name: FIXED_SMALL loss_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.LossType name: MSE rescale_timesteps: false schedule_sampler: _target_: robotmdar.diffusion.resample.create_named_schedule_sampler name: uniform diffusion: _target_: robotmdar.diffusion.respace.SpacedDiffusion use_timesteps: _target_: robotmdar.diffusion.respace.space_timesteps num_timesteps: 5 section_counts: - 5 betas: _target_: robotmdar.diffusion.gaussian_diffusion.get_named_beta_schedule schedule_name: cosine num_diffusion_timesteps: 5 model_mean_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.ModelMeanType name: START_X model_var_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.ModelVarType name: FIXED_SMALL loss_type: _target_: robotmdar.dtype.enum.make_enum enum_path: robotmdar.diffusion.gaussian_diffusion.LossType name: MSE rescale_timesteps: false train: opt: lr: 0.0001 _target_: robotmdar.torch.optim.Adam manager: _target_: robotmdar.train.manager.DARManager stages: - 50000 - 50000 - 50000 - 150000 use_rollout: false use_static_pose: false static_prob: 0.001 static_perturbation_scale: 0.0 save_every: 5000 eval_every: 1000000 eval_steps: 10 device: cuda save_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357 learning_rate: 0.0001 anneal_lr: true max_grad_norm: 1.0 use_ema: false ema_decay: 0.999 loss_weight: rec: 1.0 kl: 0.0001 body_trans: 0.05 body_rot: 0.01 dof_pos: 0.03 dof_vel: 1.0e-05 foot_contact: 0.01 fk_joints_rec: 1.0 joints_consistency: 1.0 joints_delta: 1.0 trans_delta: 1.0 orient_delta: 1.0 dof_delta: 1.0 smooth: 0.0 quantize_rot: 0.0 quantize_trans: 0.0 drift_yaw: 0.0 drift_xy: 0.0 latent_rec: 1.0 ckpt: 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 dar: null load_cfg: null platform: _target_: robotmdar.train.train_platforms.TensorboardPlatform save_dir: /data/haozhe/zzn/VAR_FM/ws/project/P_1_Embodied-AI/_reference/TextOp_official/TextOpRobotMDAR/logs/RobotMDAR/OfficialFullDARFromMVAE10000/train-dar-20260418_181357 use_full_sample: false skeleton: motion_lib_type: origin asset: assetRoot: description/ assetFileName: g1_23dof_lock_wrist_fitmotionONLY.xml humanoid_type: g1_23dof_lock_wrist bias_offset: false has_self_collision: true has_mesh: false has_jt_limit: false has_dof_subset: true has_upright_start: true has_smpl_pd_offset: false remove_toe: false motion_sym_loss: false sym_loss_coef: 1 big_ankle: true has_shape_obs: false has_shape_obs_disc: false has_shape_variation: false masterfoot: false freeze_toe: false freeze_hand: false box_body: true real_weight: true real_weight_porpotion_capsules: true real_weight_porpotion_boxes: true body_names: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link limb_weight_group: - - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - - pelvis - waist_yaw_link - waist_roll_link - torso_link - - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link dof_names: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link foot_names: - left_ankle_roll_link - right_ankle_roll_link nums_extend_bodies: 3 extend_config: - joint_name: left_hand_link parent_name: left_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: right_hand_link parent_name: right_elbow_link pos: - 0.25 - 0.0 - 0.0 rot: - 1.0 - 0.0 - 0.0 - 0.0 - joint_name: head_link parent_name: torso_link pos: - 0.0 - 0.0 - 0.42 rot: - 1.0 - 0.0 - 0.0 - 0.0 motion_tracking_link: - left_hand_link - right_hand_link - head_link lower_body_link: - pelvis - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - left_knee_link - left_ankle_pitch_link - left_ankle_roll_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link - right_knee_link - right_ankle_pitch_link - right_ankle_roll_link - waist_yaw_link - waist_roll_link - torso_link upper_body_link: - left_shoulder_pitch_link - left_shoulder_roll_link - left_shoulder_yaw_link - left_elbow_link - right_shoulder_pitch_link - right_shoulder_roll_link - right_shoulder_yaw_link - right_elbow_link - left_hand_link - right_hand_link - head_link pelvis_link: pelvis base_link: torso_link hips_link: - left_hip_pitch_link - left_hip_roll_link - left_hip_yaw_link - right_hip_pitch_link - right_hip_roll_link - right_hip_yaw_link joint_matches: - - pelvis - Pelvis - - left_hip_pitch_link - L_Hip - - left_knee_link - L_Knee - - left_ankle_roll_link - L_Ankle - - right_hip_pitch_link - R_Hip - - right_knee_link - R_Knee - - right_ankle_roll_link - R_Ankle - - left_shoulder_roll_link - L_Shoulder - - left_elbow_link - L_Elbow - - left_hand_link - L_Hand - - right_shoulder_roll_link - R_Shoulder - - right_elbow_link - R_Elbow - - right_hand_link - R_Hand - - head_link - Head smpl_pose_modifier: - Pelvis: '[np.pi/2, 0, np.pi/2]' - L_Shoulder: '[0, 0, -np.pi/2]' - R_Shoulder: '[0, 0, np.pi/2]' - L_Elbow: '[0, -np.pi/2, 0]' - R_Elbow: '[0, np.pi/2, 0]' visualization: customize_color: true marker_joint_colors: - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0.929 - 0.867 - 0.437 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613 - - 0 - 0.351 - 0.613