| { | |
| "checkpoint": "outputs/phase5_train_debug/run/best.pt", | |
| "dataset": "outputs/phase5_train_debug/cil", | |
| "group_id": "toy_pick_red_mug-s0000-07d8558fd93e", | |
| "instruction": "Pick up the red mug.", | |
| "prediction": { | |
| "action_chunk": { | |
| "action_id": "act-f59339b87f55c34c-task-bound", | |
| "horizon": 4, | |
| "metadata": { | |
| "bound_target": "red_mug", | |
| "source": "devectorized_toy_policy", | |
| "task_bound": true | |
| }, | |
| "representation": "semantic", | |
| "skill_type": null, | |
| "values": [ | |
| { | |
| "command": "move_to", | |
| "object": "red_mug", | |
| "position": [ | |
| -0.05678968504071236, | |
| 0.007661838084459305, | |
| 0.022968538105487823 | |
| ], | |
| "target": "red_mug" | |
| }, | |
| { | |
| "command": "grasp", | |
| "object": "red_mug", | |
| "target": "red_mug" | |
| }, | |
| { | |
| "command": "noop" | |
| }, | |
| { | |
| "command": "noop" | |
| } | |
| ] | |
| }, | |
| "mode": "model_policy", | |
| "model_config": { | |
| "action_dim": 8, | |
| "action_horizon": 4, | |
| "dropout": 0.0, | |
| "effect_dim": 32, | |
| "hidden_dim": 64, | |
| "intervention_dim": 128, | |
| "lang_dim": 64, | |
| "language_dim": null, | |
| "obs_dim": 32, | |
| "observation_dim": null, | |
| "skill_vocab_size": 32, | |
| "text_vocab_size": 4096 | |
| } | |
| }, | |
| "query_record_id": "rec-33249a76c7f96e9c002537e5", | |
| "task_id": "toy_pick_red_mug" | |
| } | |