diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/config.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/config.json new file mode 100644 index 0000000000000000000000000000000000000000..8202eac5c95058823c24d20052b757673cf55e86 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/config.json @@ -0,0 +1,90 @@ +{ + "action_horizon": 40, + "add_pos_embed": true, + "apply_sincos_state_encoding": false, + "architectures": [ + "Gr00tN1d7" + ], + "attn_dropout": 0.2, + "attn_implementation": null, + "backbone_embedding_dim": 2048, + "backbone_trainable_params_fp32": true, + "color_jitter_params": { + "brightness": 0.3, + "contrast": 0.4, + "hue": 0.08, + "saturation": 0.5 + }, + "crop_fraction": 0.95, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 32, + "output_dim": 1024, + "positional_embeddings": null + }, + "dtype": "float32", + "exclude_state": false, + "formalize_language": true, + "hidden_size": 1024, + "image_crop_size": [ + 230, + 230 + ], + "image_target_size": [ + 256, + 256 + ], + "letter_box_transform": false, + "load_bf16": false, + "max_action_dim": 132, + "max_num_embodiments": 32, + "max_seq_len": 1024, + "max_state_dim": 132, + "model_dtype": "bfloat16", + "model_name": "nvidia/Cosmos-Reason2-2B", + "model_type": "Gr00tN1d7", + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_inference_timesteps": 4, + "num_timestep_buckets": 1000, + "random_history_crop": true, + "random_rotation_angle": 0, + "reproject_vision": false, + "rkd_student_pool": "summary_token", + "rkd_summary_mask_mode": "valid_keys_v1", + "rtc_ramp_rate": 6.0, + "select_layer": 16, + "shortest_image_edge": 256, + "state_dropout_prob": 0.0, + "state_gaussian_noise_std": 0.0, + "transformers_version": 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b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/dataset_state.json @@ -0,0 +1 @@ +{"epoch": 0, "curr_shard_index": null} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/embodiment_id.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/embodiment_id.json new file mode 100644 index 0000000000000000000000000000000000000000..9a5b40fe7cd0266bec65666448a0afb51bbe1138 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/embodiment_id.json @@ -0,0 +1,57 @@ +{ + "robocasa_panda_omron": 13, + "oxe_droid": 17, + "oxe_fractal": 18, + "oxe_language_table": 19, + "oxe_bridge": 20, + "unknown": 22, + "gr1_unified": 20, + "agibot": 26, + "sim_behavior_r1_pro": 23, + "xdof": 24, + "xdof_oss_data": 25, + "unitree_g1_full_body_with_waist_height_nav_cmd": 25, + "real_r1_pro_sharpa": 27, + "real_r1_pro_sharpa_add_view": 27, + 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"real_g1_relative_eef_relative_joints": 25, + "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26, + "real_r1_pro_sharpa_relative_joint": 29, + "oxe_droid_relative_eef_relative_joint": 24, + "oxe_droid_relative_eef_relative_joint_swapped": 24, + "oxe_droid_relative_eef_relative_joint_upweight_z": 24, + "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24, + "oxe_droid_relative_eef_relative_joint_3view": 24, + "oxe_droid_relative_eef_relative_joint_3view_swapped": 24, + "oxe_droid_relative_eef": 24, + "oxe_droid_joint_position_relative": 24, + "xdof_relative_eef_relative_joint": 27, + "xdof_relative_eef_relative_joint_subtask": 27, + "xdof_relative_eef": 27, + "xdof_relative_joint": 28, + "simpler_env_google": 0, + "simpler_env_widowx": 1, + "libero_sim": 2, + "droid_sim": 3, + "new_embodiment": 10, + "robocasa_gr1_tabletop": 10, + "unitree_g1_sonic": 11 +} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/conf.yaml b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/conf.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb55c77deb2c7ecc145bbc925aee6de8a7f98512 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/conf.yaml @@ -0,0 +1,234 @@ +load_config_path: null +model: + model_type: Gr00tN1d7 + model_dtype: bfloat16 + model_name: nvidia/Cosmos-Reason2-2B + backbone_model_type: qwen + model_revision: null + tune_top_llm_layers: 0 + backbone_embedding_dim: 2048 + tune_llm: false + tune_visual: false + select_layer: 12 + reproject_vision: false + use_flash_attention: true + load_bf16: false + backbone_trainable_params_fp32: true + image_crop_size: + - 230 + - 230 + image_target_size: + - 256 + - 256 + shortest_image_edge: null + crop_fraction: null + random_rotation_angle: null + color_jitter_params: null + use_albumentations_transforms: true + letter_box_transform: false + extra_augmentation_config: null + formalize_language: true + apply_sincos_state_encoding: false + use_percentiles: true + use_relative_action: true + max_state_dim: 132 + max_action_dim: 132 + action_horizon: 40 + hidden_size: 1024 + input_embedding_dim: 1536 + state_history_length: 1 + add_pos_embed: true + attn_dropout: 0.2 + use_vlln: true + max_seq_len: 1024 + use_alternate_vl_dit: true + attend_text_every_n_blocks: 2 + diffusion_model_cfg: + positional_embeddings: null + num_layers: 16 + num_attention_heads: 32 + attention_head_dim: 48 + norm_type: ada_norm + dropout: 0.2 + final_dropout: true + output_dim: 1024 + interleave_self_attention: true + num_inference_timesteps: 4 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + tune_projector: true + tune_diffusion_model: true + tune_vlln: true + state_dropout_prob: 0.0 + exclude_state: false + use_mean_std: false + max_num_embodiments: 32 +data: + datasets: + - dataset_paths: + - /home/junhyeong/robocasa_mg_gr00t_300 + embodiment_tag: new_embodiment + mix_ratio: 1.0 + dataset_type: physical_embodiment + val_dataset_path: null + modality_configs: + new_embodiment: + video: + delta_indices: + - 0 + modality_keys: + - left_view + - right_view + - wrist_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - end_effector_position_relative + - end_effector_rotation_relative + - gripper_qpos + - base_position + - base_rotation + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + action: + delta_indices: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + modality_keys: + - end_effector_position + - end_effector_rotation + - gripper_close + - base_motion + - control_mode + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: DELTA + type: EEF + format: DEFAULT + state_key: null + - rep: DELTA + type: EEF + format: DEFAULT + state_key: null + - rep: ABSOLUTE + type: NON_EEF + format: DEFAULT + state_key: null + - rep: DELTA + type: NON_EEF + format: DEFAULT + state_key: null + - rep: ABSOLUTE + type: NON_EEF + format: DEFAULT + state_key: null + language: + delta_indices: + - 0 + modality_keys: + - annotation.human.action.task_description + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + download_cache: false + shard_size: 1024 + episode_sampling_rate: 0.1 + num_shards_per_epoch: 100000 + ds_weights_alpha: null + override_pretraining_statistics: true + mode: single_turn + random_chop: 0.0 + mock_dataset_mode: false + shuffle: true + seed: 42 + multiprocessing_context: fork + allow_padding: false + subsample_ratio: 1.0 + image_crop_size: + - 244 + - 244 + image_target_size: + - 224 + - 224 +training: + output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly + experiment_name: DTWUniform_RawZ_SummaryToken_DistanceOnly + max_steps: 60000 + global_batch_size: 64 + per_gpu_batch_size: null + gradient_accumulation_steps: 1 + learning_rate: 0.0001 + lr_scheduler_type: cosine + weight_decay: 1.0e-05 + warmup_ratio: 0.05 + warmup_steps: 0 + max_grad_norm: 1.0 + optim: adamw_torch + start_from_checkpoint: nvidia/GR00T-N1.7-3B + skip_weight_loading: false + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 5000 + save_total_limit: 1 + save_vl_model: false + save_only_model: false + resume_from_checkpoint: false + upload_checkpoints: false + upload_every: 1000 + upload_last_n_checkpoints: 5 + max_concurrent_uploads: 2 + eval_strategy: 'no' + eval_steps: 500 + eval_set_split_ratio: 0.1 + eval_batch_size: 2 + save_best_eval_metric_name: '' + save_best_eval_metric_greater_is_better: true + deepspeed_stage: 2 + gradient_checkpointing: false + transformers_trust_remote_code: true + transformers_local_files_only: false + transformers_cache_dir: null + transformers_access_token: null + use_ddp: false + ddp_bucket_cap_mb: 100 + num_gpus: 1 + dataloader_num_workers: 2 + remove_unused_columns: false + use_wandb: true + wandb_project: finetune-gr00t-n1d7 + enable_profiling: false + max_retries: 3 + assert_loss_less_than: null + add_rl_callback: false + enable_open_loop_eval: false + open_loop_eval_traj_ids: + - 0 + open_loop_eval_steps_per_traj: 100 + open_loop_eval_plot_indices: null +max_steps: 60000 +save_steps: 5000 diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/config.yaml b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e5ae1454c1725de88cd9a17cec9c785aa6244e0 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/config.yaml @@ -0,0 +1,232 @@ +load_config_path: null +model: + model_type: Gr00tN1d7 + model_dtype: bfloat16 + model_name: nvidia/Cosmos-Reason2-2B + backbone_model_type: qwen + model_revision: null + tune_top_llm_layers: 0 + backbone_embedding_dim: 2048 + tune_llm: false + tune_visual: false + select_layer: 12 + reproject_vision: false + use_flash_attention: true + load_bf16: false + backbone_trainable_params_fp32: true + image_crop_size: + - 230 + - 230 + image_target_size: + - 256 + - 256 + shortest_image_edge: null + crop_fraction: null + random_rotation_angle: null + color_jitter_params: null + use_albumentations_transforms: true + letter_box_transform: false + extra_augmentation_config: null + formalize_language: true + apply_sincos_state_encoding: false + use_percentiles: true + use_relative_action: true + max_state_dim: 132 + max_action_dim: 132 + action_horizon: 40 + hidden_size: 1024 + input_embedding_dim: 1536 + state_history_length: 1 + add_pos_embed: true + attn_dropout: 0.2 + use_vlln: true + max_seq_len: 1024 + use_alternate_vl_dit: true + attend_text_every_n_blocks: 2 + diffusion_model_cfg: + positional_embeddings: null + num_layers: 16 + num_attention_heads: 32 + attention_head_dim: 48 + norm_type: ada_norm + dropout: 0.2 + final_dropout: true + output_dim: 1024 + interleave_self_attention: true + num_inference_timesteps: 4 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + tune_projector: true + tune_diffusion_model: true + tune_vlln: true + state_dropout_prob: 0.0 + exclude_state: false + use_mean_std: false + max_num_embodiments: 32 +data: + datasets: + - dataset_paths: + - /home/junhyeong/robocasa_mg_gr00t_300 + embodiment_tag: new_embodiment + mix_ratio: 1.0 + dataset_type: physical_embodiment + val_dataset_path: null + modality_configs: + new_embodiment: + video: + delta_indices: + - 0 + modality_keys: + - left_view + - right_view + - wrist_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - end_effector_position_relative + - end_effector_rotation_relative + - gripper_qpos + - base_position + - base_rotation + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + action: + delta_indices: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + modality_keys: + - end_effector_position + - end_effector_rotation + - gripper_close + - base_motion + - control_mode + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: delta + type: eef + format: default + state_key: null + - rep: delta + type: eef + format: default + state_key: null + - rep: absolute + type: non_eef + format: default + state_key: null + - rep: delta + type: non_eef + format: default + state_key: null + - rep: absolute + type: non_eef + format: default + state_key: null + language: + delta_indices: + - 0 + modality_keys: + - annotation.human.action.task_description + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + download_cache: false + shard_size: 1024 + episode_sampling_rate: 0.1 + num_shards_per_epoch: 100000 + ds_weights_alpha: null + override_pretraining_statistics: true + mode: single_turn + random_chop: 0.0 + mock_dataset_mode: false + shuffle: true + seed: 42 + multiprocessing_context: fork + allow_padding: false + subsample_ratio: 1.0 + image_crop_size: + - 244 + - 244 + image_target_size: + - 224 + - 224 +training: + output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly + experiment_name: DTWUniform_RawZ_SummaryToken_DistanceOnly + max_steps: 60000 + global_batch_size: 64 + per_gpu_batch_size: null + gradient_accumulation_steps: 1 + learning_rate: 0.0001 + lr_scheduler_type: cosine + weight_decay: 1.0e-05 + warmup_ratio: 0.05 + warmup_steps: 0 + max_grad_norm: 1.0 + optim: adamw_torch + start_from_checkpoint: nvidia/GR00T-N1.7-3B + skip_weight_loading: false + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 5000 + save_total_limit: 1 + save_vl_model: false + save_only_model: false + resume_from_checkpoint: false + upload_checkpoints: false + upload_every: 1000 + upload_last_n_checkpoints: 5 + max_concurrent_uploads: 2 + eval_strategy: 'no' + eval_steps: 500 + eval_set_split_ratio: 0.1 + eval_batch_size: 2 + save_best_eval_metric_name: '' + save_best_eval_metric_greater_is_better: true + deepspeed_stage: 2 + gradient_checkpointing: false + transformers_trust_remote_code: true + transformers_local_files_only: false + transformers_cache_dir: null + transformers_access_token: null + use_ddp: false + ddp_bucket_cap_mb: 100 + num_gpus: 1 + dataloader_num_workers: 2 + remove_unused_columns: false + use_wandb: true + wandb_project: 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-0.4101182746887207 + ], + "q99": [ + 0.47503985762596074, + 0.38744416117668146, + 0.4242807936668394 + ] + }, + "gripper_close": { + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "mean": [ + 0.34521719813346863 + ], + "std": [ + 0.47949448227882385 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "base_motion": { + "min": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "control_mode": { + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } + }, + "relative_action": {} + } +} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_model_config.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_model_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e85eb636026877670321bbb48f300091a00e658c --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_model_config.json @@ -0,0 +1,56 @@ +{ + "model_type": "Gr00tN1d7", + "model_dtype": "bfloat16", + "model_name": "nvidia/Cosmos-Reason2-2B", + "backbone_model_type": "qwen", + "model_revision": null, + "tune_top_llm_layers": 0, + "backbone_embedding_dim": 2048, + "tune_llm": false, + "tune_visual": false, + "select_layer": 16, + "reproject_vision": false, + "use_flash_attention": true, + "load_bf16": false, + "backbone_trainable_params_fp32": true, + "letter_box_transform": false, + "extra_augmentation_config": null, + "apply_sincos_state_encoding": false, + "use_percentiles": true, + "use_relative_action": false, + "max_state_dim": 132, + "max_action_dim": 132, + "action_horizon": 40, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "state_history_length": 1, + "add_pos_embed": true, + "attn_dropout": 0.2, + "use_vlln": true, + "max_seq_len": 1024, + "use_alternate_vl_dit": true, + "attend_text_every_n_blocks": 2, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 32, + "output_dim": 1024, + "positional_embeddings": null + }, + "num_inference_timesteps": 4, + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_timestep_buckets": 1000, + "tune_projector": true, + "tune_diffusion_model": true, + "tune_vlln": true, + "state_dropout_prob": 0.0, + "exclude_state": false, + "use_mean_std": false, + "max_num_embodiments": 32 +} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_processor_config.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_processor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..21d45bd0e7097abae2c3cd66011f73a9ce36aa14 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/checkpoint-60000/experiment_cfg/final_processor_config.json @@ -0,0 +1,33 @@ +{ + "modality_configs": "{'real_g1_relative_eef_relative_joints': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist', 'base_height_command', 'navigate_command'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='left_hand'), ActionConfig(rep=, type=, format=, state_key='right_hand'), ActionConfig(rep=, type=, format=, state_key='left_arm'), ActionConfig(rep=, type=, format=, state_key='right_arm'), ActionConfig(rep=, type=, format=, state_key='waist'), ActionConfig(rep=, type=, format=, state_key='base_height_command'), ActionConfig(rep=, type=, format=, state_key='navigate_command')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_mecka': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_human': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_maxinsights': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint_subtask': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.sub_task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'oxe_droid_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-15, 0], modality_keys=['exterior_image_1_left', 'wrist_image_left'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='eef_9d'), ActionConfig(rep=, type=, format=, state_key='gripper_position'), ActionConfig(rep=, type=, format=, state_key='joint_position')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.language.language_instruction'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['left_view', 'right_view', 'wrist_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", + "state_action_processor": "StateActionProcessor(modality_configs={'real_g1_relative_eef_relative_joints': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist', 'base_height_command', 'navigate_command'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='left_hand'), ActionConfig(rep=, type=, format=, state_key='right_hand'), ActionConfig(rep=, type=, format=, state_key='left_arm'), ActionConfig(rep=, type=, format=, state_key='right_arm'), ActionConfig(rep=, type=, format=, state_key='waist'), ActionConfig(rep=, type=, format=, state_key='base_height_command'), ActionConfig(rep=, type=, format=, state_key='navigate_command')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_mecka': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_human': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_maxinsights': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint_subtask': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.sub_task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'oxe_droid_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-15, 0], modality_keys=['exterior_image_1_left', 'wrist_image_left'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='eef_9d'), ActionConfig(rep=, type=, format=, state_key='gripper_position'), ActionConfig(rep=, type=, format=, state_key='joint_position')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.language.language_instruction'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['left_view', 'right_view', 'wrist_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'xdof_relative_eef_relative_joint': {'state': {'left_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'right_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'left_gripper_pos': {'min': [-0.0059605552814900875], 'max': [1.0241823196411133], 'mean': [0.5298081218577592], 'std': [0.331572870841776], 'q01': [0.0006357925594784319], 'q99': [1.0012937784194946]}, 'right_gripper_pos': {'min': [-0.008026881143450737], 'max': [1.0233876705169678], 'mean': [0.4628714863463814], 'std': [0.3197053642478196], 'q01': [0.0002384222170803696], 'q99': [1.0004991292953491]}, 'left_joint_pos': {'min': [-2.614061117172241, -0.011635004542768002, -0.03299763426184654, -1.7137788534164429, -1.6134508848190308, -2.2634851932525635], 'max': [2.722400188446045, 3.2255663871765137, 3.1466009616851807, 1.7496376037597656, 1.6165026426315308, 2.129587173461914], 'mean': [-0.43204564071275164, 1.3360140942485934, 0.977756749114227, -0.20764517006562974, 0.13548548209641217, -0.34586601387813026], 'std': [0.32593979372326, 0.4501825903121491, 0.43969371952330766, 0.4656535947015507, 0.3631990185513432, 0.47834206915061794], 'q01': [-1.6600519275665284, 0.004386968910694122, 0.005149920005351305, -1.654268741607666, -1.4787899255752563, -1.941519856452942], 'q99': [0.9588387608528137, 2.983711004257202, 3.116464376449585, 1.6153582334518433, 1.5348668098449707, 2.008659601211548]}, 'right_joint_pos': {'min': [-2.181086540222168, -0.006294346414506435, -0.023460745811462402, -1.7042419910430908, -1.6691462993621826, -2.194819450378418], 'max': [3.1610970497131348, 3.1744487285614014, 3.1435492038726807, 1.8377584218978882, 1.659609317779541, 2.191767692565918], 'mean': [0.49769355404704274, 1.4137827697794858, 1.035390818895155, -0.22620097406832307, -0.1109998379731762, 0.3124758352053083], 'std': [0.3425284898427533, 0.4348928777512414, 0.44855091688137616, 0.455543180344053, 0.3750941489911973, 0.4676490558408451], 'q01': [-0.8310444951057434, 0.005149920005351305, -0.00019073777366429567, -1.6882200241088867, -1.5459296703338623, -1.9289311170578003], 'q99': [1.6931792497634888, 2.8768978118896484, 3.11264967918396, 1.5836957693099976, 1.3906691074371338, 2.0704586505889893]}}, 'action': {'left_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'right_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'left_gripper_pos': {'min': [0.0], 'max': [1.0005524158477783], 'mean': [0.4894738550398603], 'std': [0.3658849878970031], 'q01': [0.0], 'q99': [1.0]}, 'right_gripper_pos': {'min': [0.0], 'max': [1.0012677907943726], 'mean': [0.42179289307059936], 'std': [0.35085831973067055], 'q01': [0.0], 'q99': [1.0]}, 'left_joint_pos': {'min': [-3.2796506881713867, -0.40335947275161743, -3.0811784267425537, -2.8247804641723633, -2.9140243530273438, -6.9197869300842285], 'max': [2.999366044998169, 3.2818641662597656, 3.204439163208008, 2.700853109359741, 2.888516426086426, 4.0740647315979], 'mean': [-0.4320966700375303, 1.3267254659141012, 0.9892936233229989, -0.19292120145399316, 0.137177496464736, -0.3415348146457932], 'std': [0.32717341515685205, 0.45111574130101945, 0.4436585526140856, 0.47947015238417623, 0.3726652433616672, 0.48268193348614896], 'q01': [-1.6491725730895996, -0.18540417909622192, -0.11274946242570877, -1.7595770359039307, -1.506637692451477, -1.9647646522521973], 'q99': [0.9675869798660318, 2.966718912124634, 3.1570824646949767, 1.865393282175064, 1.7594223833084106, 2.0421516728401183]}, 'right_joint_pos': {'min': [-2.9336249828338623, -0.9110031127929688, -3.081232786178589, -3.0222198963165283, -2.921630382537842, -3.9576704502105713], 'max': [3.2183895111083984, 3.2515134811401367, 3.180328607559204, 3.09946608543396, 2.984330415725708, 3.1415927410125732], 'mean': [0.49873124182160944, 1.4032430931055242, 1.049398896397993, -0.20931148807752872, -0.10713040336432812, 0.31039908096199914], 'std': [0.3435803003019482, 0.434948261723947, 0.45254602224125395, 0.47121136824977633, 0.3861546851580732, 0.4726213393496966], 'q01': [-0.8375532174110413, -0.03537410520017147, -0.09510991990566253, -1.6886014938354492, -1.5836957693099976, -1.9424252891540528], 'q99': [1.6965827941894531, 2.8716108798980713, 3.136990785598755, 1.9009840822219848, 1.4391164779663086, 2.1393704915046703]}}, 'relative_action': {'left_wrist_eef': {'min': [[-0.38900313242076107, -0.3277234529599847, -0.2389303136387065, 0.2790558039498855, -0.8186113174035106, -0.919683536625069, -0.8009098155650313, -0.2340562192527128, -0.9810514163128647], [-0.38355131501629197, -0.3332304322652259, -0.2383730029042853, 0.19393285102672764, -0.7828230902167107, -0.8986942028649885, -0.8715263771474656, -0.2534084945045429, -0.9805705327169542], [-0.3782221292550252, -0.3570386545393785, -0.2383672241957954, 0.13841427840328785, -0.8380566180851395, -0.8752703509437907, -0.8931964986550815, -0.2550659408542874, -0.9791669043194825], [-0.36345654892096535, -0.3734058851726575, -0.23780006381130628, -0.023093481457627463, -0.8889314904185048, -0.9210608921428382, -0.9477719965784076, -0.2694992480406433, -0.977902462273784], [-0.3562038769166471, -0.394018190264448, -0.23666737410620073, -0.19120713527596161, -0.9563404067833854, -0.9334313180745379, -0.9695904155243555, -0.28848410389134493, -0.9768409545313137], [-0.3630528573850783, -0.42701904321710993, -0.2557070363801274, -0.29741645925832355, -0.9818464897457462, -0.9527051436599083, -0.9928376075415751, -0.30342020749345744, -0.9753440378580183], [-0.38930256547193903, -0.4414628727650167, -0.2679068423900895, -0.4228271119998364, -0.9906189520235298, -0.9677635691754499, -0.9931598479856201, -0.3025425660337354, -0.9739222887105493], [-0.41278621893563816, -0.4760265610573359, -0.28042902493955574, -0.47831819015323834, -0.9885362544985061, -0.9990450608315692, -0.9858665653059929, -0.2834597629541466, -0.9724520835499775], [-0.4321105648128974, -0.4958683265493158, -0.2876068836649418, 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\"data_format\": \"channels_first\",\n \"default_to_square\": true,\n \"device\": null,\n \"disable_grouping\": null,\n \"do_center_crop\": null,\n \"do_convert_rgb\": true,\n \"do_normalize\": true,\n \"do_pad\": null,\n \"do_rescale\": true,\n \"do_resize\": true,\n \"image_mean\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"image_processor_type\": \"Qwen2VLImageProcessorFast\",\n \"image_std\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"input_data_format\": null,\n \"max_pixels\": null,\n \"merge_size\": 2,\n \"min_pixels\": null,\n \"pad_size\": null,\n \"patch_size\": 16,\n \"processor_class\": \"Qwen3VLProcessor\",\n \"resample\": 3,\n \"rescale_factor\": 0.00392156862745098,\n \"return_tensors\": null,\n \"size\": {\n \"longest_edge\": 16777216,\n \"shortest_edge\": 65536\n },\n \"temporal_patch_size\": 2\n}\n\n- tokenizer: Qwen2TokenizerFast(name_or_path='nvidia/Cosmos-Reason2-2B', vocab_size=151643, model_max_length=262144, is_fast=True, padding_side='left', truncation_side='right', special_tokens={'eos_token': '<|im_end|>', 'pad_token': '<|endoftext|>', 'additional_special_tokens': ['<|im_start|>', '<|im_end|>', '<|object_ref_start|>', '<|object_ref_end|>', '<|box_start|>', '<|box_end|>', '<|quad_start|>', '<|quad_end|>', '<|vision_start|>', '<|vision_end|>', '<|vision_pad|>', '<|image_pad|>', '<|video_pad|>']}, clean_up_tokenization_spaces=False, added_tokens_decoder={\n\t151643: AddedToken(\"<|endoftext|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151644: AddedToken(\"<|im_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151645: AddedToken(\"<|im_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151646: AddedToken(\"<|object_ref_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151647: AddedToken(\"<|object_ref_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151648: AddedToken(\"<|box_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151649: AddedToken(\"<|box_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151650: AddedToken(\"<|quad_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151651: AddedToken(\"<|quad_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151652: AddedToken(\"<|vision_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151653: AddedToken(\"<|vision_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151654: AddedToken(\"<|vision_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151655: AddedToken(\"<|image_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151656: AddedToken(\"<|video_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151657: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151658: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151659: AddedToken(\"<|fim_prefix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151660: AddedToken(\"<|fim_middle|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151661: AddedToken(\"<|fim_suffix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151662: AddedToken(\"<|fim_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151663: AddedToken(\"<|repo_name|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151664: AddedToken(\"<|file_sep|>\", rstrip=False, 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2,\n \"min_frames\": 4,\n \"num_frames\": null,\n \"pad_size\": null,\n \"patch_size\": 16,\n \"processor_class\": \"Qwen3VLProcessor\",\n \"resample\": 3,\n \"rescale_factor\": 0.00392156862745098,\n \"return_metadata\": false,\n \"size\": {\n \"longest_edge\": 25165824,\n \"shortest_edge\": 4096\n },\n \"temporal_patch_size\": 2,\n \"video_metadata\": null,\n \"video_processor_type\": \"Qwen3VLVideoProcessor\"\n}\n\n\n{\n \"processor_class\": \"Qwen3VLProcessor\"\n}\n", + "embodiment_id_mapping": "{'robocasa_panda_omron': 13, 'oxe_droid': 17, 'oxe_fractal': 18, 'oxe_language_table': 19, 'oxe_bridge': 20, 'unknown': 22, 'gr1_unified': 20, 'agibot': 26, 'sim_behavior_r1_pro': 23, 'xdof': 24, 'xdof_oss_data': 25, 'unitree_g1_full_body_with_waist_height_nav_cmd': 25, 'real_r1_pro_sharpa': 27, 'real_r1_pro_sharpa_add_view': 27, 'real_r1_pro_sharpa_relative_arm_joint': 26, 'real_r1_pro_sharpa_delta_eef': 26, 'real_r1_pro_sharpa_absolute_eef': 26, 'real_r1_pro_sharpa_meanstd': 26, 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b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/config.yaml @@ -0,0 +1,232 @@ +load_config_path: null +model: + model_type: Gr00tN1d7 + model_dtype: bfloat16 + model_name: nvidia/Cosmos-Reason2-2B + backbone_model_type: qwen + model_revision: null + tune_top_llm_layers: 0 + backbone_embedding_dim: 2048 + tune_llm: false + tune_visual: false + select_layer: 12 + reproject_vision: false + use_flash_attention: true + load_bf16: false + backbone_trainable_params_fp32: true + image_crop_size: + - 230 + - 230 + image_target_size: + - 256 + - 256 + shortest_image_edge: null + crop_fraction: null + random_rotation_angle: null + color_jitter_params: null + use_albumentations_transforms: true + letter_box_transform: false + extra_augmentation_config: null + formalize_language: true + apply_sincos_state_encoding: false + use_percentiles: true + use_relative_action: true + max_state_dim: 132 + max_action_dim: 132 + action_horizon: 40 + hidden_size: 1024 + input_embedding_dim: 1536 + state_history_length: 1 + add_pos_embed: true + attn_dropout: 0.2 + use_vlln: true + max_seq_len: 1024 + use_alternate_vl_dit: true + attend_text_every_n_blocks: 2 + diffusion_model_cfg: + positional_embeddings: null + num_layers: 16 + num_attention_heads: 32 + attention_head_dim: 48 + norm_type: ada_norm + dropout: 0.2 + final_dropout: true + output_dim: 1024 + interleave_self_attention: true + num_inference_timesteps: 4 + noise_beta_alpha: 1.5 + noise_beta_beta: 1.0 + noise_s: 0.999 + num_timestep_buckets: 1000 + tune_projector: true + tune_diffusion_model: true + tune_vlln: true + state_dropout_prob: 0.0 + exclude_state: false + use_mean_std: false + max_num_embodiments: 32 +data: + datasets: + - dataset_paths: + - /home/junhyeong/robocasa_mg_gr00t_300 + embodiment_tag: new_embodiment + mix_ratio: 1.0 + dataset_type: physical_embodiment + val_dataset_path: null + modality_configs: + new_embodiment: + video: + delta_indices: + - 0 + modality_keys: + - left_view + - right_view + - wrist_view + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + state: + delta_indices: + - 0 + modality_keys: + - end_effector_position_relative + - end_effector_rotation_relative + - gripper_qpos + - base_position + - base_rotation + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + action: + delta_indices: + - 0 + - 1 + - 2 + - 3 + - 4 + - 5 + - 6 + - 7 + - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + modality_keys: + - end_effector_position + - end_effector_rotation + - gripper_close + - base_motion + - control_mode + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: + - rep: delta + type: eef + format: default + state_key: null + - rep: delta + type: eef + format: default + state_key: null + - rep: absolute + type: non_eef + format: default + state_key: null + - rep: delta + type: non_eef + format: default + state_key: null + - rep: absolute + type: non_eef + format: default + state_key: null + language: + delta_indices: + - 0 + modality_keys: + - annotation.human.action.task_description + sin_cos_embedding_keys: null + mean_std_embedding_keys: null + action_configs: null + download_cache: false + shard_size: 1024 + episode_sampling_rate: 0.1 + num_shards_per_epoch: 100000 + ds_weights_alpha: null + override_pretraining_statistics: true + mode: single_turn + random_chop: 0.0 + mock_dataset_mode: false + shuffle: true + seed: 42 + multiprocessing_context: fork + allow_padding: false + subsample_ratio: 1.0 + image_crop_size: + - 244 + - 244 + image_target_size: + - 224 + - 224 +training: + output_dir: /home/junhyeong/groot_robocasa-kitchen/train_ckpt/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly + experiment_name: DTWUniform_RawZ_SummaryToken_DistanceOnly + max_steps: 60000 + global_batch_size: 64 + per_gpu_batch_size: null + gradient_accumulation_steps: 1 + learning_rate: 0.0001 + lr_scheduler_type: cosine + weight_decay: 1.0e-05 + warmup_ratio: 0.05 + warmup_steps: 0 + max_grad_norm: 1.0 + optim: adamw_torch + start_from_checkpoint: nvidia/GR00T-N1.7-3B + skip_weight_loading: false + tf32: true + fp16: false + bf16: true + eval_bf16: true + logging_steps: 10 + save_steps: 5000 + save_total_limit: 1 + save_vl_model: false + save_only_model: false + resume_from_checkpoint: false + upload_checkpoints: false + upload_every: 1000 + upload_last_n_checkpoints: 5 + max_concurrent_uploads: 2 + eval_strategy: 'no' + eval_steps: 500 + eval_set_split_ratio: 0.1 + eval_batch_size: 2 + save_best_eval_metric_name: '' + save_best_eval_metric_greater_is_better: true + deepspeed_stage: 2 + gradient_checkpointing: false + transformers_trust_remote_code: true + transformers_local_files_only: false + transformers_cache_dir: null + transformers_access_token: null + use_ddp: false + ddp_bucket_cap_mb: 100 + num_gpus: 1 + dataloader_num_workers: 2 + remove_unused_columns: false + use_wandb: true + wandb_project: finetune-gr00t-n1d7 + enable_profiling: false + max_retries: 3 + assert_loss_less_than: null + add_rl_callback: false + enable_open_loop_eval: false + open_loop_eval_traj_ids: + - 0 + open_loop_eval_steps_per_traj: 100 + open_loop_eval_plot_indices: null diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/dataset_statistics.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/dataset_statistics.json new file mode 100644 index 0000000000000000000000000000000000000000..d653636202e0f44119bdb1e5b45521c64977dc69 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/dataset_statistics.json @@ -0,0 +1,317 @@ +{ + "new_embodiment": { + "state": { + "end_effector_position_relative": { + "min": [ + -0.46594083309173584, + -0.8278615474700928, + 0.011948669329285622 + ], + "max": [ + 0.8734620809555054, + 0.8441421985626221, + 1.1348456144332886 + ], + "mean": [ + 0.266306072473526, + -0.04002884030342102, + 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"mean": [ + 0.0, + 0.0, + 0.2765239179134369, + 0.6414101719856262 + ], + "std": [ + 0.0, + 0.0, + 0.6192871332168579, + 0.35383468866348267 + ], + "q01": [ + 0.0, + 0.0, + -1.0, + 5.569559434661642e-06 + ], + "q99": [ + 0.0, + 0.0, + 1.0, + 1.0 + ] + } + }, + "action": { + "end_effector_position": { + "min": [ + -1.0, + -1.0, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0 + ], + "mean": [ + 0.029150759801268578, + 0.007607606239616871, + -0.037477411329746246 + ], + "std": [ + 0.4175023138523102, + 0.41343387961387634, + 0.36864909529685974 + ], + "q01": [ + -1.0, + -1.0, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 1.0 + ] + }, + "end_effector_rotation": { + "min": [ + -1.0, + -1.0, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0 + ], + "mean": [ + 0.007235987111926079, + -0.023321982473134995, + -0.0024119403678923845 + ], + "std": [ + 0.147710919380188, + 0.15399158000946045, + 0.13929523527622223 + ], + "q01": [ + -0.42321433901786804, + -0.5219977021217346, + -0.4101182746887207 + ], + "q99": [ + 0.47503985762596074, + 0.38744416117668146, + 0.4242807936668394 + ] + }, + "gripper_close": { + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "mean": [ + 0.34521719813346863 + ], + "std": [ + 0.47949448227882385 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "base_motion": { + "min": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "max": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "mean": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "q99": [ + 0.0, + 0.0, + 0.0, + 0.0 + ] + }, + "control_mode": { + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } + }, + "relative_action": {} + } +} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_model_config.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_model_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e85eb636026877670321bbb48f300091a00e658c --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_model_config.json @@ -0,0 +1,56 @@ +{ + "model_type": "Gr00tN1d7", + "model_dtype": "bfloat16", + "model_name": "nvidia/Cosmos-Reason2-2B", + "backbone_model_type": "qwen", + "model_revision": null, + "tune_top_llm_layers": 0, + "backbone_embedding_dim": 2048, + "tune_llm": false, + "tune_visual": false, + "select_layer": 16, + "reproject_vision": false, + "use_flash_attention": true, + "load_bf16": false, + "backbone_trainable_params_fp32": true, + "letter_box_transform": false, + "extra_augmentation_config": null, + "apply_sincos_state_encoding": false, + "use_percentiles": true, + "use_relative_action": false, + "max_state_dim": 132, + "max_action_dim": 132, + "action_horizon": 40, + "hidden_size": 1024, + "input_embedding_dim": 1536, + "state_history_length": 1, + "add_pos_embed": true, + "attn_dropout": 0.2, + "use_vlln": true, + "max_seq_len": 1024, + "use_alternate_vl_dit": true, + "attend_text_every_n_blocks": 2, + "diffusion_model_cfg": { + "attention_head_dim": 48, + "dropout": 0.2, + "final_dropout": true, + "interleave_self_attention": true, + "norm_type": "ada_norm", + "num_attention_heads": 32, + "num_layers": 32, + "output_dim": 1024, + "positional_embeddings": null + }, + "num_inference_timesteps": 4, + "noise_beta_alpha": 1.5, + "noise_beta_beta": 1.0, + "noise_s": 0.999, + "num_timestep_buckets": 1000, + "tune_projector": true, + "tune_diffusion_model": true, + "tune_vlln": true, + "state_dropout_prob": 0.0, + "exclude_state": false, + "use_mean_std": false, + "max_num_embodiments": 32 +} \ No newline at end of file diff --git a/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_processor_config.json b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_processor_config.json new file mode 100644 index 0000000000000000000000000000000000000000..21d45bd0e7097abae2c3cd66011f73a9ce36aa14 --- /dev/null +++ b/rkd/Rel-AE/DTW-Uniform/RawZ/SummaryToken/DistanceOnly/experiment_cfg/final_processor_config.json @@ -0,0 +1,33 @@ +{ + "modality_configs": "{'real_g1_relative_eef_relative_joints': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist', 'base_height_command', 'navigate_command'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='left_hand'), ActionConfig(rep=, type=, format=, state_key='right_hand'), ActionConfig(rep=, type=, format=, state_key='left_arm'), ActionConfig(rep=, type=, format=, state_key='right_arm'), ActionConfig(rep=, type=, format=, state_key='waist'), ActionConfig(rep=, type=, format=, state_key='base_height_command'), ActionConfig(rep=, type=, format=, state_key='navigate_command')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_mecka': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_human': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_maxinsights': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint_subtask': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.sub_task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'oxe_droid_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-15, 0], modality_keys=['exterior_image_1_left', 'wrist_image_left'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='eef_9d'), ActionConfig(rep=, type=, format=, state_key='gripper_position'), ActionConfig(rep=, type=, format=, state_key='joint_position')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.language.language_instruction'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['left_view', 'right_view', 'wrist_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}", + "state_action_processor": "StateActionProcessor(modality_configs={'real_g1_relative_eef_relative_joints': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef_9d', 'right_wrist_eef_9d', 'left_hand', 'right_hand', 'left_arm', 'right_arm', 'waist', 'base_height_command', 'navigate_command'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef_9d'), ActionConfig(rep=, type=, format=, state_key='left_hand'), ActionConfig(rep=, type=, format=, state_key='right_hand'), ActionConfig(rep=, type=, format=, state_key='left_arm'), ActionConfig(rep=, type=, format=, state_key='right_arm'), ActionConfig(rep=, type=, format=, state_key='waist'), ActionConfig(rep=, type=, format=, state_key='base_height_command'), ActionConfig(rep=, type=, format=, state_key='navigate_command')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_mecka': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_human': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef': {'video': ModalityConfig(delta_indices=[-20, 0], modality_keys=['ego_view_res320x240_freq20', 'left_wrist_view_res320x240_freq20', 'right_wrist_view_res320x240_freq20'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'real_r1_pro_sharpa_relative_eef_maxinsights': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['ego_view_cropratio_res320x240_freq30'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_hand_joints', 'right_hand_joints'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_hand_joints'), ActionConfig(rep=, type=, format=, state_key='right_hand_joints')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.coarse_action'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'xdof_relative_eef_relative_joint_subtask': {'video': ModalityConfig(delta_indices=[-30, 0], modality_keys=['top_camera-images-rgb_320_240', 'left_camera-images-rgb_320_240', 'right_camera-images-rgb_320_240'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['left_wrist_eef', 'right_wrist_eef', 'left_gripper_pos', 'right_gripper_pos', 'left_joint_pos', 'right_joint_pos'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='left_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='right_wrist_eef'), ActionConfig(rep=, type=, format=, state_key='left_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='right_gripper_pos'), ActionConfig(rep=, type=, format=, state_key='left_joint_pos'), ActionConfig(rep=, type=, format=, state_key='right_joint_pos')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.sub_task'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'oxe_droid_relative_eef_relative_joint': {'video': ModalityConfig(delta_indices=[-15, 0], modality_keys=['exterior_image_1_left', 'wrist_image_left'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], modality_keys=['eef_9d', 'gripper_position', 'joint_position'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key='eef_9d'), ActionConfig(rep=, type=, format=, state_key='gripper_position'), ActionConfig(rep=, type=, format=, state_key='joint_position')]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.language.language_instruction'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}, 'new_embodiment': {'video': ModalityConfig(delta_indices=[0], modality_keys=['left_view', 'right_view', 'wrist_view'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'state': ModalityConfig(delta_indices=[0], modality_keys=['end_effector_position_relative', 'end_effector_rotation_relative', 'gripper_qpos', 'base_position', 'base_rotation'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None), 'action': ModalityConfig(delta_indices=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], modality_keys=['end_effector_position', 'end_effector_rotation', 'gripper_close', 'base_motion', 'control_mode'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=[ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None), ActionConfig(rep=, type=, format=, state_key=None)]), 'language': ModalityConfig(delta_indices=[0], modality_keys=['annotation.human.action.task_description'], sin_cos_embedding_keys=None, mean_std_embedding_keys=None, action_configs=None)}}, statistics={'xdof_relative_eef_relative_joint': {'state': {'left_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'right_wrist_eef': {'min': [], 'max': [], 'mean': [], 'std': [], 'q01': [], 'q99': []}, 'left_gripper_pos': {'min': [-0.0059605552814900875], 'max': [1.0241823196411133], 'mean': 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\"data_format\": \"channels_first\",\n \"default_to_square\": true,\n \"device\": null,\n \"disable_grouping\": null,\n \"do_center_crop\": null,\n \"do_convert_rgb\": true,\n \"do_normalize\": true,\n \"do_pad\": null,\n \"do_rescale\": true,\n \"do_resize\": true,\n \"image_mean\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"image_processor_type\": \"Qwen2VLImageProcessorFast\",\n \"image_std\": [\n 0.5,\n 0.5,\n 0.5\n ],\n \"input_data_format\": null,\n \"max_pixels\": null,\n \"merge_size\": 2,\n \"min_pixels\": null,\n \"pad_size\": null,\n \"patch_size\": 16,\n \"processor_class\": \"Qwen3VLProcessor\",\n \"resample\": 3,\n \"rescale_factor\": 0.00392156862745098,\n \"return_tensors\": null,\n \"size\": {\n \"longest_edge\": 16777216,\n \"shortest_edge\": 65536\n },\n \"temporal_patch_size\": 2\n}\n\n- tokenizer: Qwen2TokenizerFast(name_or_path='nvidia/Cosmos-Reason2-2B', vocab_size=151643, model_max_length=262144, is_fast=True, padding_side='left', truncation_side='right', special_tokens={'eos_token': '<|im_end|>', 'pad_token': '<|endoftext|>', 'additional_special_tokens': ['<|im_start|>', '<|im_end|>', '<|object_ref_start|>', '<|object_ref_end|>', '<|box_start|>', '<|box_end|>', '<|quad_start|>', '<|quad_end|>', '<|vision_start|>', '<|vision_end|>', '<|vision_pad|>', '<|image_pad|>', '<|video_pad|>']}, clean_up_tokenization_spaces=False, added_tokens_decoder={\n\t151643: AddedToken(\"<|endoftext|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151644: AddedToken(\"<|im_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151645: AddedToken(\"<|im_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151646: AddedToken(\"<|object_ref_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151647: AddedToken(\"<|object_ref_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151648: AddedToken(\"<|box_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151649: AddedToken(\"<|box_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151650: AddedToken(\"<|quad_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151651: AddedToken(\"<|quad_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151652: AddedToken(\"<|vision_start|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151653: AddedToken(\"<|vision_end|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151654: AddedToken(\"<|vision_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151655: AddedToken(\"<|image_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151656: AddedToken(\"<|video_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=True),\n\t151657: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151658: AddedToken(\"\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151659: AddedToken(\"<|fim_prefix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151660: AddedToken(\"<|fim_middle|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151661: AddedToken(\"<|fim_suffix|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151662: AddedToken(\"<|fim_pad|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151663: AddedToken(\"<|repo_name|>\", rstrip=False, lstrip=False, single_word=False, normalized=False, special=False),\n\t151664: AddedToken(\"<|file_sep|>\", rstrip=False, 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