File size: 769 Bytes
754912a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 | {
"checkpoint": "/mnt/cpfs/licy/InternW0-Delta/checkpoints/policy/robot37_step_110000.pt",
"pretrain_step": 110000,
"new_global_step": 0,
"weights_only": true,
"new_parameters": [],
"new_prompt_slot": 18,
"new_prompt_initialization": "fresh_normal_std0.02_after_empty_parent_check",
"action_space": {
"version": "robocasa_gr1_canonical80_native_delta_slot18_v1",
"world_axes": "source_world_A_identity",
"ee_axes": "source_wrist_B_identity",
"translation": "action_xyz[t]-state_xyz[t]",
"rotation": "Log(state_R[t].T@action_R[t])",
"rotation6d": "first_two_columns_concatenated",
"source_action_offset": 0,
"joint_hand_waist": "absolute_source_action",
"controller": "absolute_joint29",
"embodiment_id": 18
}
}
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