| { | |
| "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 | |
| } | |
| } | |