Hugging Face's logo

Datasets:
agibot-world
/
GenieSim3.0-Dataset

Dataset card Files
xet
 Community
1
AgiBotWorldAdmin commited on
Commit
3aedadc
·
verified ·
1 Parent(s): 0d12e4a

upload checkpoints/manipulation_gr00t17

Browse files
Files changed (12) hide show
  1. checkpoints/manipulation_gr00t17/config.json +88 -0
  2. checkpoints/manipulation_gr00t17/embodiment_id.json +55 -0
  3. checkpoints/manipulation_gr00t17/experiment_cfg/conf.yaml +310 -0
  4. checkpoints/manipulation_gr00t17/experiment_cfg/config.yaml +351 -0
  5. checkpoints/manipulation_gr00t17/experiment_cfg/dataset_statistics.json +3016 -0
  6. checkpoints/manipulation_gr00t17/experiment_cfg/final_model_config.json +55 -0
  7. checkpoints/manipulation_gr00t17/experiment_cfg/final_processor_config.json +0 -0
  8. checkpoints/manipulation_gr00t17/model-00001-of-00002.safetensors +3 -0
  9. checkpoints/manipulation_gr00t17/model-00002-of-00002.safetensors +3 -0
  10. checkpoints/manipulation_gr00t17/model.safetensors.index.json +0 -0
  11. checkpoints/manipulation_gr00t17/processor_config.json +1148 -0
  12. checkpoints/manipulation_gr00t17/statistics.json +0 -0
checkpoints/manipulation_gr00t17/config.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_horizon": 40,
3
+ "add_pos_embed": true,
4
+ "apply_sincos_state_encoding": false,
5
+ "architectures": [
6
+ "Gr00tN1d7"
7
+ ],
8
+ "attn_dropout": 0.2,
9
+ "attn_implementation": null,
10
+ "backbone_embedding_dim": 2048,
11
+ "backbone_trainable_params_fp32": true,
12
+ "color_jitter_params": {
13
+ "brightness": 0.3,
14
+ "contrast": 0.4,
15
+ "hue": 0.08,
16
+ "saturation": 0.5
17
+ },
18
+ "crop_fraction": 0.95,
19
+ "diffusion_model_cfg": {
20
+ "attention_head_dim": 48,
21
+ "dropout": 0.2,
22
+ "final_dropout": true,
23
+ "interleave_self_attention": true,
24
+ "norm_type": "ada_norm",
25
+ "num_attention_heads": 32,
26
+ "num_layers": 32,
27
+ "output_dim": 1024,
28
+ "positional_embeddings": null
29
+ },
30
+ "dtype": "bfloat16",
31
+ "exclude_state": false,
32
+ "formalize_language": true,
33
+ "hidden_size": 1024,
34
+ "image_crop_size": [
35
+ 230,
36
+ 230
37
+ ],
38
+ "image_target_size": [
39
+ 256,
40
+ 256
41
+ ],
42
+ "letter_box_transform": false,
43
+ "load_bf16": false,
44
+ "max_action_dim": 132,
45
+ "max_num_embodiments": 32,
46
+ "max_seq_len": 1024,
47
+ "max_state_dim": 132,
48
+ "model_dtype": "bfloat16",
49
+ "model_name": "models/nvidia/Cosmos-Reason2-2B",
50
+ "model_type": "Gr00tN1d7",
51
+ "noise_beta_alpha": 1.5,
52
+ "noise_beta_beta": 1.0,
53
+ "noise_s": 0.999,
54
+ "num_inference_timesteps": 4,
55
+ "num_timestep_buckets": 1000,
56
+ "random_history_crop": true,
57
+ "random_rotation_angle": 0,
58
+ "reproject_vision": false,
59
+ "rtc_ramp_rate": 6.0,
60
+ "select_layer": 16,
61
+ "shortest_image_edge": 256,
62
+ "state_dropout_prob": 0.2,
63
+ "state_gaussian_noise_std": 0.0,
64
+ "transformers_version": "4.57.3",
65
+ "tune_diffusion_model": true,
66
+ "tune_linear": true,
67
+ "tune_llm": false,
68
+ "tune_projector": true,
69
+ "tune_top_llm_layers": 0,
70
+ "tune_visual": false,
71
+ "tune_vlln": true,
72
+ "use_albumentations": true,
73
+ "use_alternate_vl_dit": true,
74
+ "use_flash_attention": true,
75
+ "use_future_tokens": false,
76
+ "use_mean_std": false,
77
+ "use_percentiles": true,
78
+ "use_vl_self_attention": true,
79
+ "use_vlln": true,
80
+ "vl_self_attention_cfg": {
81
+ "attention_head_dim": 64,
82
+ "dropout": 0.2,
83
+ "final_dropout": true,
84
+ "num_attention_heads": 32,
85
+ "num_layers": 4,
86
+ "positional_embeddings": null
87
+ }
88
+ }
checkpoints/manipulation_gr00t17/embodiment_id.json ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robocasa_panda_omron": 13,
3
+ "oxe_droid": 17,
4
+ "oxe_fractal": 18,
5
+ "oxe_language_table": 19,
6
+ "oxe_bridge": 20,
7
+ "unknown": 22,
8
+ "gr1_unified": 20,
9
+ "agibot": 26,
10
+ "sim_behavior_r1_pro": 23,
11
+ "xdof": 24,
12
+ "xdof_oss_data": 25,
13
+ "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
14
+ "real_r1_pro_sharpa": 27,
15
+ "real_r1_pro_sharpa_add_view": 27,
16
+ "real_r1_pro_sharpa_relative_arm_joint": 26,
17
+ "real_r1_pro_sharpa_delta_eef": 26,
18
+ "real_r1_pro_sharpa_absolute_eef": 26,
19
+ "real_r1_pro_sharpa_meanstd": 26,
20
+ "real_r1_pro_sharpa_relative_eef": 26,
21
+ "real_r1_pro_sharpa_relative_eef_add_view": 26,
22
+ "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
23
+ "real_r1_pro_sharpa_relative_eef_human": 26,
24
+ "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
25
+ "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
26
+ "real_r1_pro_sharpa_relative_eef_egodex": 26,
27
+ "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
28
+ "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
29
+ "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
30
+ "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
31
+ "real_r1_pro_sharpa_relative_eef_mecka": 26,
32
+ "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
33
+ "real_g1_relative_eef_absolute_joints": 25,
34
+ "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
35
+ "real_g1_relative_eef_relative_joints": 25,
36
+ "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
37
+ "real_r1_pro_sharpa_relative_joint": 29,
38
+ "oxe_droid_relative_eef_relative_joint": 24,
39
+ "oxe_droid_relative_eef_relative_joint_swapped": 24,
40
+ "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
41
+ "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
42
+ "oxe_droid_relative_eef_relative_joint_3view": 24,
43
+ "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
44
+ "oxe_droid_relative_eef": 24,
45
+ "oxe_droid_joint_position_relative": 24,
46
+ "xdof_relative_eef_relative_joint": 27,
47
+ "xdof_relative_eef_relative_joint_subtask": 27,
48
+ "xdof_relative_eef": 27,
49
+ "xdof_relative_joint": 28,
50
+ "simpler_env_google": 0,
51
+ "simpler_env_widowx": 1,
52
+ "libero_sim": 2,
53
+ "droid_sim": 3,
54
+ "new_embodiment": 10
55
+ }
checkpoints/manipulation_gr00t17/experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,310 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ load_config_path: null
2
+ model:
3
+ model_type: Gr00tN1d7
4
+ model_dtype: bfloat16
5
+ model_name: models/nvidia/Cosmos-Reason2-2B
6
+ backbone_model_type: qwen
7
+ model_revision: null
8
+ tune_top_llm_layers: 0
9
+ backbone_embedding_dim: 2048
10
+ tune_llm: false
11
+ tune_visual: false
12
+ select_layer: 12
13
+ reproject_vision: false
14
+ use_flash_attention: true
15
+ load_bf16: false
16
+ backbone_trainable_params_fp32: true
17
+ image_crop_size:
18
+ - 230
19
+ - 230
20
+ image_target_size:
21
+ - 256
22
+ - 256
23
+ shortest_image_edge: null
24
+ crop_fraction: null
25
+ random_rotation_angle: null
26
+ color_jitter_params: null
27
+ use_albumentations_transforms: true
28
+ extra_augmentation_config: null
29
+ formalize_language: true
30
+ apply_sincos_state_encoding: false
31
+ use_percentiles: true
32
+ use_relative_action: true
33
+ max_state_dim: 132
34
+ max_action_dim: 132
35
+ action_horizon: 40
36
+ hidden_size: 1024
37
+ input_embedding_dim: 1536
38
+ state_history_length: 1
39
+ add_pos_embed: true
40
+ attn_dropout: 0.2
41
+ use_vlln: true
42
+ max_seq_len: 1024
43
+ use_alternate_vl_dit: true
44
+ attend_text_every_n_blocks: 2
45
+ diffusion_model_cfg:
46
+ positional_embeddings: null
47
+ num_layers: 16
48
+ num_attention_heads: 32
49
+ attention_head_dim: 48
50
+ norm_type: ada_norm
51
+ dropout: 0.2
52
+ final_dropout: true
53
+ output_dim: 1024
54
+ interleave_self_attention: true
55
+ num_inference_timesteps: 4
56
+ noise_beta_alpha: 1.5
57
+ noise_beta_beta: 1.0
58
+ noise_s: 0.999
59
+ num_timestep_buckets: 1000
60
+ tune_projector: true
61
+ tune_diffusion_model: true
62
+ tune_vlln: true
63
+ state_dropout_prob: 0.2
64
+ exclude_state: false
65
+ use_mean_std: false
66
+ max_num_embodiments: 32
67
+ data:
68
+ datasets:
69
+ - dataset_paths:
70
+ - train_data/manipulation_processed_v21/clean_the_desktop_part_1
71
+ embodiment_tag: new_embodiment
72
+ mix_ratio: 1.0
73
+ dataset_type: physical_embodiment
74
+ val_dataset_path: null
75
+ - dataset_paths:
76
+ - train_data/manipulation_processed_v21/clean_the_desktop_part_2
77
+ embodiment_tag: new_embodiment
78
+ mix_ratio: 1.0
79
+ dataset_type: physical_embodiment
80
+ val_dataset_path: null
81
+ - dataset_paths:
82
+ - train_data/manipulation_processed_v21/hold_pot
83
+ embodiment_tag: new_embodiment
84
+ mix_ratio: 1.0
85
+ dataset_type: physical_embodiment
86
+ val_dataset_path: null
87
+ - dataset_paths:
88
+ - train_data/manipulation_processed_v21/open_door
89
+ embodiment_tag: new_embodiment
90
+ mix_ratio: 1.0
91
+ dataset_type: physical_embodiment
92
+ val_dataset_path: null
93
+ - dataset_paths:
94
+ - train_data/manipulation_processed_v21/place_block_into_box
95
+ embodiment_tag: new_embodiment
96
+ mix_ratio: 1.0
97
+ dataset_type: physical_embodiment
98
+ val_dataset_path: null
99
+ - dataset_paths:
100
+ - train_data/manipulation_processed_v21/pour_workpiece
101
+ embodiment_tag: new_embodiment
102
+ mix_ratio: 1.0
103
+ dataset_type: physical_embodiment
104
+ val_dataset_path: null
105
+ - dataset_paths:
106
+ - train_data/manipulation_processed_v21/scoop_popcorn
107
+ embodiment_tag: new_embodiment
108
+ mix_ratio: 1.0
109
+ dataset_type: physical_embodiment
110
+ val_dataset_path: null
111
+ - dataset_paths:
112
+ - train_data/manipulation_processed_v21/scoop_popcorn_part_2
113
+ embodiment_tag: new_embodiment
114
+ mix_ratio: 1.0
115
+ dataset_type: physical_embodiment
116
+ val_dataset_path: null
117
+ - dataset_paths:
118
+ - train_data/manipulation_processed_v21/sorting_packages_part_1
119
+ embodiment_tag: new_embodiment
120
+ mix_ratio: 1.0
121
+ dataset_type: physical_embodiment
122
+ val_dataset_path: null
123
+ - dataset_paths:
124
+ - train_data/manipulation_processed_v21/sorting_packages_part_2
125
+ embodiment_tag: new_embodiment
126
+ mix_ratio: 1.0
127
+ dataset_type: physical_embodiment
128
+ val_dataset_path: null
129
+ - dataset_paths:
130
+ - train_data/manipulation_processed_v21/sorting_packages_part_3
131
+ embodiment_tag: new_embodiment
132
+ mix_ratio: 1.0
133
+ dataset_type: physical_embodiment
134
+ val_dataset_path: null
135
+ - dataset_paths:
136
+ - train_data/manipulation_processed_v21/stock_and_straighten_shelf
137
+ embodiment_tag: new_embodiment
138
+ mix_ratio: 1.0
139
+ dataset_type: physical_embodiment
140
+ val_dataset_path: null
141
+ - dataset_paths:
142
+ - train_data/manipulation_processed_v21/stock_and_straighten_shelf_part_2
143
+ embodiment_tag: new_embodiment
144
+ mix_ratio: 1.0
145
+ dataset_type: physical_embodiment
146
+ val_dataset_path: null
147
+ - dataset_paths:
148
+ - train_data/manipulation_processed_v21/take_wrong_item_shelf
149
+ embodiment_tag: new_embodiment
150
+ mix_ratio: 1.0
151
+ dataset_type: physical_embodiment
152
+ val_dataset_path: null
153
+ modality_configs:
154
+ new_embodiment:
155
+ video:
156
+ delta_indices:
157
+ - 0
158
+ modality_keys:
159
+ - top_head
160
+ - hand_left
161
+ - hand_right
162
+ sin_cos_embedding_keys: null
163
+ mean_std_embedding_keys: null
164
+ action_configs: null
165
+ state:
166
+ delta_indices:
167
+ - 0
168
+ modality_keys:
169
+ - left_arm_joint_position
170
+ - right_arm_joint_position
171
+ - left_effector_position
172
+ - right_effector_position
173
+ - waist_position
174
+ sin_cos_embedding_keys: null
175
+ mean_std_embedding_keys: null
176
+ action_configs: null
177
+ action:
178
+ delta_indices:
179
+ - 0
180
+ - 1
181
+ - 2
182
+ - 3
183
+ - 4
184
+ - 5
185
+ - 6
186
+ - 7
187
+ - 8
188
+ - 9
189
+ - 10
190
+ - 11
191
+ - 12
192
+ - 13
193
+ - 14
194
+ - 15
195
+ modality_keys:
196
+ - left_arm_joint_position
197
+ - right_arm_joint_position
198
+ - left_effector_position
199
+ - right_effector_position
200
+ - waist_position
201
+ sin_cos_embedding_keys: null
202
+ mean_std_embedding_keys: null
203
+ action_configs:
204
+ - rep: RELATIVE
205
+ type: NON_EEF
206
+ format: DEFAULT
207
+ state_key: null
208
+ - rep: RELATIVE
209
+ type: NON_EEF
210
+ format: DEFAULT
211
+ state_key: null
212
+ - rep: RELATIVE
213
+ type: NON_EEF
214
+ format: DEFAULT
215
+ state_key: null
216
+ - rep: RELATIVE
217
+ type: NON_EEF
218
+ format: DEFAULT
219
+ state_key: null
220
+ - rep: RELATIVE
221
+ type: NON_EEF
222
+ format: DEFAULT
223
+ state_key: null
224
+ language:
225
+ delta_indices:
226
+ - 0
227
+ modality_keys:
228
+ - annotation.language.action_text
229
+ sin_cos_embedding_keys: null
230
+ mean_std_embedding_keys: null
231
+ action_configs: null
232
+ download_cache: false
233
+ shard_size: 1024
234
+ episode_sampling_rate: 0.1
235
+ num_shards_per_epoch: 100000
236
+ override_pretraining_statistics: true
237
+ mode: single_turn
238
+ random_chop: 0.0
239
+ mock_dataset_mode: false
240
+ shuffle: true
241
+ seed: 42
242
+ multiprocessing_context: fork
243
+ allow_padding: false
244
+ subsample_ratio: 1.0
245
+ image_crop_size:
246
+ - 244
247
+ - 244
248
+ image_target_size:
249
+ - 224
250
+ - 224
251
+ video_backend: torchcodec
252
+ training:
253
+ output_dir: checkpoints/gr00t17/manipulation_v21_new_rel_gripper
254
+ experiment_name: null
255
+ max_steps: 100000
256
+ global_batch_size: 256
257
+ batch_size: null
258
+ gradient_accumulation_steps: 1
259
+ learning_rate: 0.0001
260
+ lr_scheduler_type: cosine
261
+ weight_decay: 1.0e-05
262
+ warmup_ratio: 0.05
263
+ warmup_steps: 0
264
+ max_grad_norm: 1.0
265
+ optim: adamw_torch
266
+ start_from_checkpoint: models/nvidia/GR00T-N1.7-3B
267
+ skip_weight_loading: false
268
+ tf32: true
269
+ fp16: false
270
+ bf16: true
271
+ eval_bf16: true
272
+ logging_steps: 10
273
+ save_steps: 10000
274
+ save_total_limit: 5
275
+ save_vl_model: false
276
+ save_only_model: false
277
+ upload_checkpoints: false
278
+ upload_every: 1000
279
+ upload_last_n_checkpoints: 5
280
+ max_concurrent_uploads: 2
281
+ eval_strategy: 'no'
282
+ eval_steps: 500
283
+ eval_set_split_ratio: 0.1
284
+ eval_batch_size: 2
285
+ save_best_eval_metric_name: ''
286
+ save_best_eval_metric_greater_is_better: true
287
+ deepspeed_stage: 2
288
+ gradient_checkpointing: false
289
+ transformers_trust_remote_code: true
290
+ transformers_local_files_only: false
291
+ transformers_cache_dir: null
292
+ transformers_access_token: null
293
+ use_ddp: false
294
+ ddp_bucket_cap_mb: 100
295
+ num_gpus: 8
296
+ dataloader_num_workers: 4
297
+ remove_unused_columns: false
298
+ use_wandb: false
299
+ wandb_project: finetune-gr00t-n1d7
300
+ enable_profiling: false
301
+ max_retries: 3
302
+ assert_loss_less_than: null
303
+ add_rl_callback: false
304
+ enable_open_loop_eval: false
305
+ open_loop_eval_traj_ids:
306
+ - 0
307
+ open_loop_eval_steps_per_traj: 100
308
+ open_loop_eval_plot_indices: null
309
+ max_steps: 100000
310
+ save_steps: 10000
checkpoints/manipulation_gr00t17/experiment_cfg/config.yaml ADDED
@@ -0,0 +1,351 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ !!python/object:gr00t.configs.base_config.Config
2
+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
3
+ allow_padding: false
4
+ datasets:
5
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
6
+ dataset_paths:
7
+ - train_data/manipulation_processed_v21/clean_the_desktop_part_1
8
+ dataset_type: physical_embodiment
9
+ embodiment_tag: new_embodiment
10
+ mix_ratio: 1.0
11
+ val_dataset_path: null
12
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
13
+ dataset_paths:
14
+ - train_data/manipulation_processed_v21/clean_the_desktop_part_2
15
+ dataset_type: physical_embodiment
16
+ embodiment_tag: new_embodiment
17
+ mix_ratio: 1.0
18
+ val_dataset_path: null
19
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
20
+ dataset_paths:
21
+ - train_data/manipulation_processed_v21/hold_pot
22
+ dataset_type: physical_embodiment
23
+ embodiment_tag: new_embodiment
24
+ mix_ratio: 1.0
25
+ val_dataset_path: null
26
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
27
+ dataset_paths:
28
+ - train_data/manipulation_processed_v21/open_door
29
+ dataset_type: physical_embodiment
30
+ embodiment_tag: new_embodiment
31
+ mix_ratio: 1.0
32
+ val_dataset_path: null
33
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
34
+ dataset_paths:
35
+ - train_data/manipulation_processed_v21/place_block_into_box
36
+ dataset_type: physical_embodiment
37
+ embodiment_tag: new_embodiment
38
+ mix_ratio: 1.0
39
+ val_dataset_path: null
40
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
41
+ dataset_paths:
42
+ - train_data/manipulation_processed_v21/pour_workpiece
43
+ dataset_type: physical_embodiment
44
+ embodiment_tag: new_embodiment
45
+ mix_ratio: 1.0
46
+ val_dataset_path: null
47
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
48
+ dataset_paths:
49
+ - train_data/manipulation_processed_v21/scoop_popcorn
50
+ dataset_type: physical_embodiment
51
+ embodiment_tag: new_embodiment
52
+ mix_ratio: 1.0
53
+ val_dataset_path: null
54
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
55
+ dataset_paths:
56
+ - train_data/manipulation_processed_v21/scoop_popcorn_part_2
57
+ dataset_type: physical_embodiment
58
+ embodiment_tag: new_embodiment
59
+ mix_ratio: 1.0
60
+ val_dataset_path: null
61
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
62
+ dataset_paths:
63
+ - train_data/manipulation_processed_v21/sorting_packages_part_1
64
+ dataset_type: physical_embodiment
65
+ embodiment_tag: new_embodiment
66
+ mix_ratio: 1.0
67
+ val_dataset_path: null
68
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
69
+ dataset_paths:
70
+ - train_data/manipulation_processed_v21/sorting_packages_part_2
71
+ dataset_type: physical_embodiment
72
+ embodiment_tag: new_embodiment
73
+ mix_ratio: 1.0
74
+ val_dataset_path: null
75
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
76
+ dataset_paths:
77
+ - train_data/manipulation_processed_v21/sorting_packages_part_3
78
+ dataset_type: physical_embodiment
79
+ embodiment_tag: new_embodiment
80
+ mix_ratio: 1.0
81
+ val_dataset_path: null
82
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
83
+ dataset_paths:
84
+ - train_data/manipulation_processed_v21/stock_and_straighten_shelf
85
+ dataset_type: physical_embodiment
86
+ embodiment_tag: new_embodiment
87
+ mix_ratio: 1.0
88
+ val_dataset_path: null
89
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
90
+ dataset_paths:
91
+ - train_data/manipulation_processed_v21/stock_and_straighten_shelf_part_2
92
+ dataset_type: physical_embodiment
93
+ embodiment_tag: new_embodiment
94
+ mix_ratio: 1.0
95
+ val_dataset_path: null
96
+ - !!python/object:gr00t.configs.data.data_config.SingleDatasetConfig
97
+ dataset_paths:
98
+ - train_data/manipulation_processed_v21/take_wrong_item_shelf
99
+ dataset_type: physical_embodiment
100
+ embodiment_tag: new_embodiment
101
+ mix_ratio: 1.0
102
+ val_dataset_path: null
103
+ download_cache: false
104
+ episode_sampling_rate: 0.1
105
+ image_crop_size:
106
+ - 244
107
+ - 244
108
+ image_target_size:
109
+ - 224
110
+ - 224
111
+ mock_dataset_mode: false
112
+ modality_configs:
113
+ new_embodiment:
114
+ action: !!python/object:gr00t.data.types.ModalityConfig
115
+ action_configs:
116
+ - !!python/object:gr00t.data.types.ActionConfig
117
+ format: &id001 !!python/object/apply:gr00t.data.types.ActionFormat
118
+ - default
119
+ rep: &id002 !!python/object/apply:gr00t.data.types.ActionRepresentation
120
+ - relative
121
+ state_key: null
122
+ type: &id003 !!python/object/apply:gr00t.data.types.ActionType
123
+ - non_eef
124
+ - !!python/object:gr00t.data.types.ActionConfig
125
+ format: *id001
126
+ rep: *id002
127
+ state_key: null
128
+ type: *id003
129
+ - !!python/object:gr00t.data.types.ActionConfig
130
+ format: *id001
131
+ rep: *id002
132
+ state_key: null
133
+ type: *id003
134
+ - !!python/object:gr00t.data.types.ActionConfig
135
+ format: *id001
136
+ rep: *id002
137
+ state_key: null
138
+ type: *id003
139
+ - !!python/object:gr00t.data.types.ActionConfig
140
+ format: *id001
141
+ rep: *id002
142
+ state_key: null
143
+ type: *id003
144
+ delta_indices:
145
+ - 0
146
+ - 1
147
+ - 2
148
+ - 3
149
+ - 4
150
+ - 5
151
+ - 6
152
+ - 7
153
+ - 8
154
+ - 9
155
+ - 10
156
+ - 11
157
+ - 12
158
+ - 13
159
+ - 14
160
+ - 15
161
+ mean_std_embedding_keys: null
162
+ modality_keys:
163
+ - left_arm_joint_position
164
+ - right_arm_joint_position
165
+ - left_effector_position
166
+ - right_effector_position
167
+ - waist_position
168
+ sin_cos_embedding_keys: null
169
+ language: !!python/object:gr00t.data.types.ModalityConfig
170
+ action_configs: null
171
+ delta_indices:
172
+ - 0
173
+ mean_std_embedding_keys: null
174
+ modality_keys:
175
+ - annotation.language.action_text
176
+ sin_cos_embedding_keys: null
177
+ state: !!python/object:gr00t.data.types.ModalityConfig
178
+ action_configs: null
179
+ delta_indices:
180
+ - 0
181
+ mean_std_embedding_keys: null
182
+ modality_keys:
183
+ - left_arm_joint_position
184
+ - right_arm_joint_position
185
+ - left_effector_position
186
+ - right_effector_position
187
+ - waist_position
188
+ sin_cos_embedding_keys: null
189
+ video: !!python/object:gr00t.data.types.ModalityConfig
190
+ action_configs: null
191
+ delta_indices:
192
+ - 0
193
+ mean_std_embedding_keys: null
194
+ modality_keys:
195
+ - top_head
196
+ - hand_left
197
+ - hand_right
198
+ sin_cos_embedding_keys: null
199
+ mode: single_turn
200
+ multiprocessing_context: fork
201
+ num_shards_per_epoch: 100000
202
+ override_pretraining_statistics: true
203
+ random_chop: 0.0
204
+ seed: 42
205
+ shard_size: 1024
206
+ shuffle: true
207
+ subsample_ratio: 1.0
208
+ video_backend: torchcodec
209
+ load_config_path: null
210
+ model: !!python/object:gr00t.configs.model.gr00t_n1d7.Gr00tN1d7Config
211
+ _attn_implementation_internal: null
212
+ _commit_hash: null
213
+ _name_or_path: ''
214
+ _output_attentions: false
215
+ add_cross_attention: false
216
+ architectures: null
217
+ backbone_trainable_params_fp32: true
218
+ bad_words_ids: null
219
+ begin_suppress_tokens: null
220
+ bos_token_id: null
221
+ chunk_size_feed_forward: 0
222
+ color_jitter_params: null
223
+ cross_attention_hidden_size: null
224
+ decoder_start_token_id: null
225
+ diffusion_model_cfg:
226
+ attention_head_dim: 48
227
+ dropout: 0.2
228
+ final_dropout: true
229
+ interleave_self_attention: true
230
+ norm_type: ada_norm
231
+ num_attention_heads: 32
232
+ num_layers: 16
233
+ output_dim: 1024
234
+ positional_embeddings: null
235
+ diversity_penalty: 0.0
236
+ do_sample: false
237
+ dtype: null
238
+ early_stopping: false
239
+ encoder_no_repeat_ngram_size: 0
240
+ eos_token_id: null
241
+ exponential_decay_length_penalty: null
242
+ extra_augmentation_config: null
243
+ finetuning_task: null
244
+ forced_bos_token_id: null
245
+ forced_eos_token_id: null
246
+ id2label:
247
+ 0: LABEL_0
248
+ 1: LABEL_1
249
+ is_decoder: false
250
+ is_encoder_decoder: false
251
+ label2id:
252
+ LABEL_0: 0
253
+ LABEL_1: 1
254
+ length_penalty: 1.0
255
+ load_bf16: false
256
+ max_length: 20
257
+ min_length: 0
258
+ model_name: models/nvidia/Cosmos-Reason2-2B
259
+ no_repeat_ngram_size: 0
260
+ num_beam_groups: 1
261
+ num_beams: 1
262
+ num_return_sequences: 1
263
+ output_hidden_states: false
264
+ output_scores: false
265
+ pad_token_id: null
266
+ prefix: null
267
+ problem_type: null
268
+ pruned_heads: {}
269
+ random_rotation_angle: null
270
+ remove_invalid_values: false
271
+ repetition_penalty: 1.0
272
+ reproject_vision: false
273
+ return_dict: true
274
+ return_dict_in_generate: false
275
+ sep_token_id: null
276
+ state_dropout_prob: 0.2
277
+ suppress_tokens: null
278
+ task_specific_params: null
279
+ temperature: 1.0
280
+ tf_legacy_loss: false
281
+ tie_encoder_decoder: false
282
+ tie_word_embeddings: true
283
+ tokenizer_class: null
284
+ top_k: 50
285
+ top_p: 1.0
286
+ torchscript: false
287
+ transformers_version: null
288
+ tune_diffusion_model: true
289
+ tune_llm: false
290
+ tune_projector: true
291
+ tune_visual: false
292
+ typical_p: 1.0
293
+ use_bfloat16: false
294
+ use_relative_action: true
295
+ training: !!python/object:gr00t.configs.training.training_config.TrainingConfig
296
+ add_rl_callback: false
297
+ assert_loss_less_than: null
298
+ batch_size: null
299
+ bf16: true
300
+ dataloader_num_workers: 4
301
+ ddp_bucket_cap_mb: 100
302
+ deepspeed_stage: 2
303
+ enable_open_loop_eval: false
304
+ enable_profiling: false
305
+ eval_batch_size: 2
306
+ eval_bf16: true
307
+ eval_set_split_ratio: 0.1
308
+ eval_steps: 500
309
+ eval_strategy: 'no'
310
+ experiment_name: null
311
+ fp16: false
312
+ global_batch_size: 256
313
+ gradient_accumulation_steps: 1
314
+ gradient_checkpointing: false
315
+ learning_rate: 0.0001
316
+ logging_steps: 10
317
+ lr_scheduler_type: cosine
318
+ max_concurrent_uploads: 2
319
+ max_grad_norm: 1.0
320
+ max_retries: 3
321
+ max_steps: 100000
322
+ num_gpus: 8
323
+ open_loop_eval_plot_indices: null
324
+ open_loop_eval_steps_per_traj: 100
325
+ open_loop_eval_traj_ids:
326
+ - 0
327
+ optim: adamw_torch
328
+ output_dir: checkpoints/gr00t17/manipulation_v21_new_rel_gripper
329
+ remove_unused_columns: false
330
+ save_best_eval_metric_greater_is_better: true
331
+ save_best_eval_metric_name: ''
332
+ save_only_model: false
333
+ save_steps: 10000
334
+ save_total_limit: 5
335
+ save_vl_model: false
336
+ skip_weight_loading: false
337
+ start_from_checkpoint: models/nvidia/GR00T-N1.7-3B
338
+ tf32: true
339
+ transformers_access_token: null
340
+ transformers_cache_dir: null
341
+ transformers_local_files_only: false
342
+ transformers_trust_remote_code: true
343
+ upload_checkpoints: false
344
+ upload_every: 1000
345
+ upload_last_n_checkpoints: 5
346
+ use_ddp: false
347
+ use_wandb: false
348
+ wandb_project: finetune-gr00t-n1d7
349
+ warmup_ratio: 0.05
350
+ warmup_steps: 0
351
+ weight_decay: 1.0e-05
checkpoints/manipulation_gr00t17/experiment_cfg/dataset_statistics.json ADDED
@@ -0,0 +1,3016 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "new_embodiment": {
3
+ "state": {
4
+ "left_arm_joint_position": {
5
+ "min": [
6
+ -3.05062198638916,
7
+ -2.086899995803833,
8
+ -3.0387001037597656,
9
+ -2.4870998859405518,
10
+ -3.044365167617798,
11
+ -1.0494999885559082,
12
+ -1.5707000494003296
13
+ ],
14
+ "max": [
15
+ 2.777543783187866,
16
+ 2.0917000770568848,
17
+ 2.3714675903320312,
18
+ 1.0383000373840332,
19
+ 3.1093950271606445,
20
+ 1.0484000444412231,
21
+ 1.5703999996185303
22
+ ],
23
+ "mean": [
24
+ 0.5115471934633594,
25
+ -0.6893872320652007,
26
+ -1.1625028375004018,
27
+ -1.4891920685768123,
28
+ 0.17793876052434954,
29
+ -0.7657269601311001,
30
+ -0.7658621498516627
31
+ ],
32
+ "std": [
33
+ 0.4842855371322257,
34
+ 0.26282912679981074,
35
+ 0.6801867686918963,
36
+ 0.2829502276328451,
37
+ 0.4812786291157905,
38
+ 0.37786579880786614,
39
+ 0.40675747977227544
40
+ ],
41
+ "q01": [
42
+ -1.550407795906067,
43
+ -1.8116999864578247,
44
+ -2.428499937057495,
45
+ -2.3942578077316283,
46
+ -2.9615472173690796,
47
+ -1.0246000289916992,
48
+ -1.559000015258789
49
+ ],
50
+ "q99": [
51
+ 2.201933917999267,
52
+ 1.600100040435791,
53
+ 1.3944617438316325,
54
+ -0.15778468325734143,
55
+ 1.7327502238750456,
56
+ 1.005097279548645,
57
+ 1.4961646616458892
58
+ ]
59
+ },
60
+ "right_arm_joint_position": {
61
+ "min": [
62
+ -2.8521933555603027,
63
+ -2.094399929046631,
64
+ -2.8049850463867188,
65
+ -2.4809396266937256,
66
+ -3.1312267780303955,
67
+ -1.0508052110671997,
68
+ -1.569100022315979
69
+ ],
70
+ "max": [
71
+ 3.047792911529541,
72
+ 2.0546998977661133,
73
+ 3.098900079727173,
74
+ 0.9975004196166992,
75
+ 2.240828514099121,
76
+ 1.0471999645233154,
77
+ 1.5707999467849731
78
+ ],
79
+ "mean": [
80
+ -0.2935769424906799,
81
+ -0.8536727385861533,
82
+ 0.6143827044538088,
83
+ -1.3107206438268935,
84
+ -0.47832858722124777,
85
+ -0.44367624819278717,
86
+ 0.320621607758637
87
+ ],
88
+ "std": [
89
+ 0.5145100466188107,
90
+ 0.4020221371459086,
91
+ 0.6713298196467208,
92
+ 0.5008271088951196,
93
+ 0.6916849196358514,
94
+ 0.4844294117055687,
95
+ 0.6019751897226736
96
+ ],
97
+ "q01": [
98
+ -2.172578001022339,
99
+ -1.9383505296707153,
100
+ -1.3533862042427063,
101
+ -2.460952935218811,
102
+ -2.882588195800781,
103
+ -1.0333000421524048,
104
+ -1.4682903218269348
105
+ ],
106
+ "q99": [
107
+ 1.506232187747955,
108
+ 1.515158038139342,
109
+ 2.3654339885711666,
110
+ 0.4432391905784622,
111
+ 1.3430490636825558,
112
+ 0.9837107467651367,
113
+ 1.558899998664856
114
+ ]
115
+ },
116
+ "left_effector_position": {
117
+ "min": [
118
+ -0.7850000262260437
119
+ ],
120
+ "max": [
121
+ -0.00125600874889642
122
+ ],
123
+ "mean": [
124
+ -0.6153521282332284
125
+ ],
126
+ "std": [
127
+ 0.1565267221765302
128
+ ],
129
+ "q01": [
130
+ -0.7850000262260437
131
+ ],
132
+ "q99": [
133
+ -0.01991028316318995
134
+ ]
135
+ },
136
+ "right_effector_position": {
137
+ "min": [
138
+ -0.7850000262260437
139
+ ],
140
+ "max": [
141
+ 0.0
142
+ ],
143
+ "mean": [
144
+ -0.44812831548707827
145
+ ],
146
+ "std": [
147
+ 0.2569618434647984
148
+ ],
149
+ "q01": [
150
+ -0.7850000262260437
151
+ ],
152
+ "q99": [
153
+ -0.00125600874889642
154
+ ]
155
+ },
156
+ "waist_position": {
157
+ "min": [
158
+ -1.432135820388794
159
+ ],
160
+ "max": [
161
+ 1.9737780094146729
162
+ ],
163
+ "mean": [
164
+ 0.10526729300298548
165
+ ],
166
+ "std": [
167
+ 0.41141620854304806
168
+ ],
169
+ "q01": [
170
+ -0.831609218120575
171
+ ],
172
+ "q99": [
173
+ 1.5704164505004883
174
+ ]
175
+ }
176
+ },
177
+ "action": {
178
+ "left_arm_joint_position": {
179
+ "min": [
180
+ -3.05062198638916,
181
+ -2.087346076965332,
182
+ -3.038691759109497,
183
+ -2.4870874881744385,
184
+ -3.044365167617798,
185
+ -1.0471998453140259,
186
+ -1.5707999467849731
187
+ ],
188
+ "max": [
189
+ 2.777543783187866,
190
+ 2.0942606925964355,
191
+ 2.3714675903320312,
192
+ 1.03859281539917,
193
+ 3.1093950271606445,
194
+ 1.046587347984314,
195
+ 1.5705991983413696
196
+ ],
197
+ "mean": [
198
+ 0.5112555351640496,
199
+ -0.6896773023264748,
200
+ -1.1613432121063982,
201
+ -1.4888368334089004,
202
+ 0.17832292948982545,
203
+ -0.7652053087949752,
204
+ -0.7652994479451859
205
+ ],
206
+ "std": [
207
+ 0.48490332460445407,
208
+ 0.2644298766228031,
209
+ 0.6809529594774882,
210
+ 0.2837375036354652,
211
+ 0.4823812782163027,
212
+ 0.37847414229889426,
213
+ 0.4081938386946164
214
+ ],
215
+ "q01": [
216
+ -1.550407795906067,
217
+ -1.8262076377868652,
218
+ -2.4333821439743044,
219
+ -2.3942578077316283,
220
+ -2.9615472173690796,
221
+ -1.0311640501022339,
222
+ -1.5633857250213623
223
+ ],
224
+ "q99": [
225
+ 2.2213076019287086,
226
+ 1.613686442375183,
227
+ 1.3944617438316325,
228
+ -0.15778468325734143,
229
+ 1.7327502238750456,
230
+ 1.005097279548645,
231
+ 1.4961646616458892
232
+ ]
233
+ },
234
+ "right_arm_joint_position": {
235
+ "min": [
236
+ -2.8521933555603027,
237
+ -2.0943996906280518,
238
+ -2.8049850463867188,
239
+ -2.4809396266937256,
240
+ -3.1312267780303955,
241
+ -1.0508052110671997,
242
+ -1.569146752357483
243
+ ],
244
+ "max": [
245
+ 3.047792911529541,
246
+ 2.054710626602173,
247
+ 3.098921537399292,
248
+ 0.9975004196166992,
249
+ 2.240828514099121,
250
+ 1.047192931175232,
251
+ 1.5707999467849731
252
+ ],
253
+ "mean": [
254
+ -0.2932269163429737,
255
+ -0.854105634348733,
256
+ 0.6129854864307812,
257
+ -1.3102966504437583,
258
+ -0.47888114356568884,
259
+ -0.4432309333767209,
260
+ 0.31983985665387343
261
+ ],
262
+ "std": [
263
+ 0.5149819007023057,
264
+ 0.4028379274977934,
265
+ 0.6712001092093346,
266
+ 0.5011450832522872,
267
+ 0.6922950740206214,
268
+ 0.48450051266117994,
269
+ 0.602685457167175
270
+ ],
271
+ "q01": [
272
+ -2.1798393726348877,
273
+ -1.9383505296707153,
274
+ -1.3533862042427063,
275
+ -2.460952935218811,
276
+ -2.882588195800781,
277
+ -1.037815809249878,
278
+ -1.4682903218269348
279
+ ],
280
+ "q99": [
281
+ 1.506232187747955,
282
+ 1.5336687564849854,
283
+ 2.370340619087219,
284
+ 0.4432391905784622,
285
+ 1.3430490636825558,
286
+ 0.9837107467651367,
287
+ 1.5620423555374146
288
+ ]
289
+ },
290
+ "left_effector_position": {
291
+ "min": [
292
+ -0.7850000262260437
293
+ ],
294
+ "max": [
295
+ 0.0
296
+ ],
297
+ "mean": [
298
+ -0.48309049436024254
299
+ ],
300
+ "std": [
301
+ 0.19989503264793407
302
+ ],
303
+ "q01": [
304
+ -0.7850000262260437
305
+ ],
306
+ "q99": [
307
+ 0.0
308
+ ]
309
+ },
310
+ "right_effector_position": {
311
+ "min": [
312
+ -0.7850000262260437
313
+ ],
314
+ "max": [
315
+ 0.0
316
+ ],
317
+ "mean": [
318
+ -0.2865903090153422
319
+ ],
320
+ "std": [
321
+ 0.2986955315247974
322
+ ],
323
+ "q01": [
324
+ -0.7850000262260437
325
+ ],
326
+ "q99": [
327
+ 0.0
328
+ ]
329
+ },
330
+ "waist_position": {
331
+ "min": [
332
+ -1.432135820388794
333
+ ],
334
+ "max": [
335
+ 1.9737780094146729
336
+ ],
337
+ "mean": [
338
+ 0.1052698124117504
339
+ ],
340
+ "std": [
341
+ 0.4114153187580647
342
+ ],
343
+ "q01": [
344
+ -0.831609218120575
345
+ ],
346
+ "q99": [
347
+ 1.5704164505004883
348
+ ]
349
+ }
350
+ },
351
+ "relative_action": {
352
+ "left_arm_joint_position": {
353
+ "min": [
354
+ [
355
+ -0.2721050977706909,
356
+ -0.27903997898101807,
357
+ -0.2152666449546814,
358
+ -0.23404502868652344,
359
+ -0.48760077357292175,
360
+ -0.43694058060646057,
361
+ -0.2405189871788025
362
+ ],
363
+ [
364
+ -0.3586050868034363,
365
+ -0.6159332990646362,
366
+ -0.38890552520751953,
367
+ -0.5942842364311218,
368
+ -0.6825241446495056,
369
+ -0.8287750482559204,
370
+ -0.4873480200767517
371
+ ],
372
+ [
373
+ -0.4430050849914551,
374
+ -0.6159332990646362,
375
+ -0.38890552520751953,
376
+ -0.6676051616668701,
377
+ -0.793212890625,
378
+ -0.8311535120010376,
379
+ -0.5921830534934998
380
+ ],
381
+ [
382
+ -0.5242207050323486,
383
+ -0.6159332990646362,
384
+ -0.4375666081905365,
385
+ -0.7399983406066895,
386
+ -0.9125886559486389,
387
+ -0.8311535120010376,
388
+ -0.6967275142669678
389
+ ],
390
+ [
391
+ -0.6045206785202026,
392
+ -0.6163275241851807,
393
+ -0.5102666616439819,
394
+ -0.8088065981864929,
395
+ -0.9125886559486389,
396
+ -0.8311535120010376,
397
+ -0.6967275142669678
398
+ ],
399
+ [
400
+ -0.6789206862449646,
401
+ -0.6238324642181396,
402
+ -0.5817666053771973,
403
+ -0.8735044598579407,
404
+ -0.922237753868103,
405
+ -0.8311535120010376,
406
+ -0.7317682504653931
407
+ ],
408
+ [
409
+ -0.7491264939308167,
410
+ -0.6980324983596802,
411
+ -0.6522029638290405,
412
+ -0.9306743741035461,
413
+ -1.0271377563476562,
414
+ -0.8311535120010376,
415
+ -0.8351871967315674
416
+ ],
417
+ [
418
+ -0.8156265020370483,
419
+ -0.7711215019226074,
420
+ -0.7297605872154236,
421
+ -0.9805738925933838,
422
+ -1.1318495273590088,
423
+ -0.8311535120010376,
424
+ -0.9158632755279541
425
+ ],
426
+ [
427
+ -0.8721265196800232,
428
+ -0.8432214856147766,
429
+ -0.8264208436012268,
430
+ -1.0278589725494385,
431
+ -1.2314496040344238,
432
+ -0.8391472101211548,
433
+ -0.9854302406311035
434
+ ],
435
+ [
436
+ -0.9396657943725586,
437
+ -0.9139000177383423,
438
+ -0.9297266602516174,
439
+ -1.0690295696258545,
440
+ -1.3205630779266357,
441
+ -0.9388556480407715,
442
+ -1.0430302619934082
443
+ ],
444
+ [
445
+ -1.0153263807296753,
446
+ -0.9833999872207642,
447
+ -1.0261974334716797,
448
+ -1.1097111701965332,
449
+ -1.4078630208969116,
450
+ -1.027252435684204,
451
+ -1.1408865451812744
452
+ ],
453
+ [
454
+ -1.0575079917907715,
455
+ -1.0509330034255981,
456
+ -1.1184862852096558,
457
+ -1.1463398933410645,
458
+ -1.4814629554748535,
459
+ -1.1280174255371094,
460
+ -1.2451351881027222
461
+ ],
462
+ [
463
+ -1.1115089654922485,
464
+ -1.1172329187393188,
465
+ -1.1969746351242065,
466
+ -1.1981933116912842,
467
+ -1.5545763969421387,
468
+ -1.203750491142273,
469
+ -1.3225042819976807
470
+ ],
471
+ [
472
+ -1.1843515634536743,
473
+ -1.1805992126464844,
474
+ -1.2808860540390015,
475
+ -1.2554619312286377,
476
+ -1.613876461982727,
477
+ -1.2736809253692627,
478
+ -1.3614894151687622
479
+ ],
480
+ [
481
+ -1.2559828758239746,
482
+ -1.2430992126464844,
483
+ -1.349125623703003,
484
+ -1.3277320861816406,
485
+ -1.6709898710250854,
486
+ -1.3336660861968994,
487
+ -1.4662153720855713
488
+ ],
489
+ [
490
+ -1.3268828392028809,
491
+ -1.3013992309570312,
492
+ -1.415745496749878,
493
+ -1.4008195400238037,
494
+ -1.7166898250579834,
495
+ -1.400693655014038,
496
+ -1.5709404945373535
497
+ ]
498
+ ],
499
+ "max": [
500
+ [
501
+ 0.41305243968963623,
502
+ 0.24391010403633118,
503
+ 0.4330242872238159,
504
+ 0.22987312078475952,
505
+ 0.5151660442352295,
506
+ 0.24367545545101166,
507
+ 0.23701047897338867
508
+ ],
509
+ [
510
+ 0.5188524723052979,
511
+ 0.5273836851119995,
512
+ 0.43235301971435547,
513
+ 0.7460340857505798,
514
+ 0.5577149987220764,
515
+ 0.32147544622421265,
516
+ 0.567841649055481
517
+ ],
518
+ [
519
+ 0.624952495098114,
520
+ 0.5273836851119995,
521
+ 0.4753933250904083,
522
+ 0.746638834476471,
523
+ 0.6450818181037903,
524
+ 0.39887547492980957,
525
+ 0.6325291395187378
526
+ ],
527
+ [
528
+ 0.7316524386405945,
529
+ 0.5571237802505493,
530
+ 0.5634018778800964,
531
+ 0.7470402121543884,
532
+ 0.743276059627533,
533
+ 0.4753754436969757,
534
+ 0.6878346800804138
535
+ ],
536
+ [
537
+ 0.8389524817466736,
538
+ 0.631964921951294,
539
+ 0.6476019024848938,
540
+ 0.7475797533988953,
541
+ 0.8384320735931396,
542
+ 0.5516279935836792,
543
+ 0.736079216003418
544
+ ],
545
+ [
546
+ 0.946352481842041,
547
+ 0.7261441349983215,
548
+ 0.7239018678665161,
549
+ 0.7483345866203308,
550
+ 0.9399330019950867,
551
+ 0.627128005027771,
552
+ 0.8183448910713196
553
+ ],
554
+ [
555
+ 1.0485087633132935,
556
+ 0.782812774181366,
557
+ 0.8000370264053345,
558
+ 0.7493664622306824,
559
+ 1.0519601106643677,
560
+ 0.7011280059814453,
561
+ 0.9230771064758301
562
+ ],
563
+ [
564
+ 1.1505087614059448,
565
+ 0.8603200316429138,
566
+ 0.8746764659881592,
567
+ 0.7509326338768005,
568
+ 1.1521846055984497,
569
+ 0.7734711170196533,
570
+ 1.027040719985962
571
+ ],
572
+ [
573
+ 1.2403087615966797,
574
+ 0.9424473643302917,
575
+ 0.9448764324188232,
576
+ 0.8011701107025146,
577
+ 1.2436809539794922,
578
+ 0.845271110534668,
579
+ 1.1298699378967285
580
+ ],
581
+ [
582
+ 1.326932430267334,
583
+ 1.0141494274139404,
584
+ 1.010725736618042,
585
+ 0.8793381452560425,
586
+ 1.310884952545166,
587
+ 0.9439430832862854,
588
+ 1.2340697050094604
589
+ ],
590
+ [
591
+ 1.4028323888778687,
592
+ 1.0621638298034668,
593
+ 1.069225788116455,
594
+ 0.9509315490722656,
595
+ 1.3759764432907104,
596
+ 1.0433485507965088,
597
+ 1.3388020992279053
598
+ ],
599
+ [
600
+ 1.4734561443328857,
601
+ 1.0974774360656738,
602
+ 1.119078516960144,
603
+ 1.0151405334472656,
604
+ 1.4442132711410522,
605
+ 1.1404021978378296,
606
+ 1.4435234069824219
607
+ ],
608
+ [
609
+ 1.535656213760376,
610
+ 1.131608009338379,
611
+ 1.192590355873108,
612
+ 1.0735987424850464,
613
+ 1.519258737564087,
614
+ 1.2415016889572144,
615
+ 1.548245906829834
616
+ ],
617
+ [
618
+ 1.5902799367904663,
619
+ 1.1988558769226074,
620
+ 1.2594777345657349,
621
+ 1.138198733329773,
622
+ 1.5937718152999878,
623
+ 1.318487524986267,
624
+ 1.5683536529541016
625
+ ],
626
+ [
627
+ 1.6460371017456055,
628
+ 1.2640856504440308,
629
+ 1.3420398235321045,
630
+ 1.2022671699523926,
631
+ 1.6609758138656616,
632
+ 1.373757004737854,
633
+ 1.5920968055725098
634
+ ],
635
+ [
636
+ 1.6929370164871216,
637
+ 1.334985613822937,
638
+ 1.4446732997894287,
639
+ 1.262567162513733,
640
+ 1.7192349433898926,
641
+ 1.4132969379425049,
642
+ 1.6391446590423584
643
+ ]
644
+ ],
645
+ "mean": [
646
+ [
647
+ -0.00033690238238445345,
648
+ -0.00032600761291437915,
649
+ 0.001262949380491461,
650
+ 0.000398892759611564,
651
+ 0.00042641856375017336,
652
+ 0.0005721469642594457,
653
+ 0.0006192618831326918
654
+ ],
655
+ [
656
+ -0.0005718159147912895,
657
+ -0.0003585577642697402,
658
+ 0.0018837379771190804,
659
+ 0.000498927728121133,
660
+ 0.0005502529610963107,
661
+ 0.0008344932252044896,
662
+ 0.0009771188747306678
663
+ ],
664
+ [
665
+ -0.0008027436194954416,
666
+ -0.0003905349024660205,
667
+ 0.002498003981780096,
668
+ 0.0005951591782599662,
669
+ 0.000671177211249493,
670
+ 0.0010938831202968377,
671
+ 0.001330526264071644
672
+ ],
673
+ [
674
+ -0.0010272797539018692,
675
+ -0.00042092692409921383,
676
+ 0.0031018026457189252,
677
+ 0.0006848549458103393,
678
+ 0.0007869998976427642,
679
+ 0.0013483360096961303,
680
+ 0.0016767942831019359
681
+ ],
682
+ [
683
+ -0.001243365720112014,
684
+ -0.0004489305939109503,
685
+ 0.003691466807480432,
686
+ 0.0007656774019412385,
687
+ 0.0008959106373530748,
688
+ 0.0015957352017405158,
689
+ 0.002013953964507907
690
+ ],
691
+ [
692
+ -0.001449414797465108,
693
+ -0.0004736851390398604,
694
+ 0.004264371933106454,
695
+ 0.0008356486194949854,
696
+ 0.0009966941712544752,
697
+ 0.0018346775384695691,
698
+ 0.0023402638708563163
699
+ ],
700
+ [
701
+ -0.0016441390921281749,
702
+ -0.0004947384683506227,
703
+ 0.00481823506356806,
704
+ 0.000893375896337391,
705
+ 0.0010882500607716544,
706
+ 0.0020640362820698904,
707
+ 0.0026546543739018875
708
+ ],
709
+ [
710
+ -0.0018267195266728569,
711
+ -0.0005118485893577582,
712
+ 0.005351612546065151,
713
+ 0.0009379783264473117,
714
+ 0.0011698574448542687,
715
+ 0.0022826957534266713,
716
+ 0.0029565536216800453
717
+ ],
718
+ [
719
+ -0.0019966753922481422,
720
+ -0.0005248858172015909,
721
+ 0.005863942224783005,
722
+ 0.0009688592060232029,
723
+ 0.0012417290446770884,
724
+ 0.0024903439954461043,
725
+ 0.0032458467919635704
726
+ ],
727
+ [
728
+ -0.0021540277675481233,
729
+ -0.0005340736253143877,
730
+ 0.006355044866514804,
731
+ 0.000986097134161566,
732
+ 0.0013040830984160881,
733
+ 0.002686947919835195,
734
+ 0.0035227452346185168
735
+ ],
736
+ [
737
+ -0.0022994631399200216,
738
+ -0.0005398228308917753,
739
+ 0.00682561076945579,
740
+ 0.000990315990177594,
741
+ 0.0013574138655236823,
742
+ 0.002872219879582717,
743
+ 0.003788172498314677
744
+ ],
745
+ [
746
+ -0.002433965353953888,
747
+ -0.0005428177454735054,
748
+ 0.007277136634526877,
749
+ 0.0009826127478311162,
750
+ 0.0014030218956259583,
751
+ 0.003047066513068789,
752
+ 0.0040429834550816625
753
+ ],
754
+ [
755
+ -0.0025589945033528084,
756
+ -0.0005440042690152732,
757
+ 0.00771138801442233,
758
+ 0.0009645119848277365,
759
+ 0.0014420271466118858,
760
+ 0.0032124976052835107,
761
+ 0.004288516022384765
762
+ ],
763
+ [
764
+ -0.0026761395289552426,
765
+ -0.0005443254529137981,
766
+ 0.008130172001780345,
767
+ 0.0009377404980603591,
768
+ 0.0014754036273626325,
769
+ 0.0033688672231377836,
770
+ 0.004526197495744582
771
+ ],
772
+ [
773
+ -0.002786687962642174,
774
+ -0.0005444174132080348,
775
+ 0.008535516410247064,
776
+ 0.000903769468326995,
777
+ 0.0015047941502349515,
778
+ 0.0035174062565150243,
779
+ 0.004757258098452042
780
+ ],
781
+ [
782
+ -0.002891884687534635,
783
+ -0.0005449738568355908,
784
+ 0.008929150110929079,
785
+ 0.0008638822134169493,
786
+ 0.0015312236578642413,
787
+ 0.0036589985910474732,
788
+ 0.004983113656570908
789
+ ]
790
+ ],
791
+ "std": [
792
+ [
793
+ 0.011626917837421862,
794
+ 0.009879977069979035,
795
+ 0.011940384655025008,
796
+ 0.012463918984833755,
797
+ 0.012019381330185895,
798
+ 0.009778795132208412,
799
+ 0.012986161562409277
800
+ ],
801
+ [
802
+ 0.01614725060892652,
803
+ 0.014021870361844066,
804
+ 0.01676383323695787,
805
+ 0.017751655311202916,
806
+ 0.017060347210696505,
807
+ 0.014117163399738616,
808
+ 0.019018161290467572
809
+ ],
810
+ [
811
+ 0.021128770280016723,
812
+ 0.018816340525848133,
813
+ 0.02227365975970732,
814
+ 0.023715307088751643,
815
+ 0.023364082469754795,
816
+ 0.019352741380411955,
817
+ 0.026195524732441924
818
+ ],
819
+ [
820
+ 0.026196335568320017,
821
+ 0.02376275099020281,
822
+ 0.027939747303474448,
823
+ 0.02978281117841115,
824
+ 0.02996753507667166,
825
+ 0.024772322162085626,
826
+ 0.033615512080521964
827
+ ],
828
+ [
829
+ 0.031223532062710804,
830
+ 0.02869526153082693,
831
+ 0.033567666282047916,
832
+ 0.03578776785109515,
833
+ 0.03656714238995035,
834
+ 0.030155069603190737,
835
+ 0.04098425173302513
836
+ ],
837
+ [
838
+ 0.03611315737433379,
839
+ 0.03351565308416188,
840
+ 0.03905089093372869,
841
+ 0.04161564473561202,
842
+ 0.04301701119206705,
843
+ 0.03538551850939058,
844
+ 0.04816211486258768
845
+ ],
846
+ [
847
+ 0.04083495570409732,
848
+ 0.03817959966585095,
849
+ 0.04433802264382362,
850
+ 0.04723439223813678,
851
+ 0.04925728541088626,
852
+ 0.040426680450596886,
853
+ 0.055104108104031074
854
+ ],
855
+ [
856
+ 0.04536859162515923,
857
+ 0.04269116472689579,
858
+ 0.049405815557272435,
859
+ 0.05263107066275355,
860
+ 0.0552664508766086,
861
+ 0.045257409902053757,
862
+ 0.061781319519215436
863
+ ],
864
+ [
865
+ 0.04970946883529926,
866
+ 0.04702926491331243,
867
+ 0.05423819868547398,
868
+ 0.057791250539844935,
869
+ 0.06102809175820236,
870
+ 0.04986666856451804,
871
+ 0.0681723831792188
872
+ ],
873
+ [
874
+ 0.05384654073312392,
875
+ 0.051194492722208315,
876
+ 0.05883807999252091,
877
+ 0.0627215607375213,
878
+ 0.06653796154045881,
879
+ 0.05425196415275975,
880
+ 0.07428533278102603
881
+ ],
882
+ [
883
+ 0.05780084117307954,
884
+ 0.05519665076264889,
885
+ 0.06320719281925197,
886
+ 0.06743732191644884,
887
+ 0.0718077264452454,
888
+ 0.05843225909036256,
889
+ 0.08010643722112178
890
+ ],
891
+ [
892
+ 0.06156970386971472,
893
+ 0.05904369110578988,
894
+ 0.06736248975268447,
895
+ 0.07193824752200348,
896
+ 0.07684625759722134,
897
+ 0.06240413434737831,
898
+ 0.08567512113509022
899
+ ],
900
+ [
901
+ 0.06519755590641978,
902
+ 0.0627497440807366,
903
+ 0.07132089271369957,
904
+ 0.0762684124995601,
905
+ 0.08167187480414485,
906
+ 0.06619047054173349,
907
+ 0.0909940233316858
908
+ ],
909
+ [
910
+ 0.06867745379132643,
911
+ 0.06634311064422475,
912
+ 0.07509978623551691,
913
+ 0.0804491902648483,
914
+ 0.08628843246159504,
915
+ 0.06982431480385762,
916
+ 0.09608030116360987
917
+ ],
918
+ [
919
+ 0.07204288463781687,
920
+ 0.06981042786751444,
921
+ 0.07873354446899906,
922
+ 0.08449191357300458,
923
+ 0.09072866794282994,
924
+ 0.0732936980109323,
925
+ 0.10094422483221607
926
+ ],
927
+ [
928
+ 0.07530461524618685,
929
+ 0.07317146790493986,
930
+ 0.08222900470863967,
931
+ 0.08842730146813069,
932
+ 0.09500524173345731,
933
+ 0.07663437737053838,
934
+ 0.10561875593805675
935
+ ]
936
+ ],
937
+ "q01": [
938
+ [
939
+ -0.12459748804569244,
940
+ -0.11638254404067994,
941
+ -0.05920631408691406,
942
+ -0.16228342175483704,
943
+ -0.11828392297029496,
944
+ -0.06046200066804886,
945
+ -0.1278933824598789
946
+ ],
947
+ [
948
+ -0.16392904222011567,
949
+ -0.15200764775276185,
950
+ -0.07759231090545654,
951
+ -0.22343880265951158,
952
+ -0.1603599900007248,
953
+ -0.08081277191638947,
954
+ -0.1766075935959816
955
+ ],
956
+ [
957
+ -0.2062382084131241,
958
+ -0.1876435649394989,
959
+ -0.09590437650680542,
960
+ -0.2838360425829887,
961
+ -0.1999891608953476,
962
+ -0.10047592520713806,
963
+ -0.225866789072752
964
+ ],
965
+ [
966
+ -0.24722810029983522,
967
+ -0.22488746166229248,
968
+ -0.11453755378723143,
969
+ -0.3425375634431839,
970
+ -0.24186212077736854,
971
+ -0.14072848111391068,
972
+ -0.271436910033226
973
+ ],
974
+ [
975
+ -0.28802581280469897,
976
+ -0.25944008529186247,
977
+ -0.13240164518356323,
978
+ -0.40041142761707305,
979
+ -0.28263035118579866,
980
+ -0.1854579484462738,
981
+ -0.3159148219227791
982
+ ],
983
+ [
984
+ -0.32430801033973694,
985
+ -0.29456787824630737,
986
+ -0.15030388832092284,
987
+ -0.4543863260746002,
988
+ -0.3184878322482109,
989
+ -0.2275223246216774,
990
+ -0.3633975061774254
991
+ ],
992
+ [
993
+ -0.359975620508194,
994
+ -0.3297911787033081,
995
+ -0.17313947290182113,
996
+ -0.50580217897892,
997
+ -0.35756818562746046,
998
+ -0.2669755733013153,
999
+ -0.4030509540438652
1000
+ ],
1001
+ [
1002
+ -0.3888667756319046,
1003
+ -0.36362112760543824,
1004
+ -0.19749816834926606,
1005
+ -0.5554907405376435,
1006
+ -0.39477897524833677,
1007
+ -0.30543527483940125,
1008
+ -0.4447640272974968
1009
+ ],
1010
+ [
1011
+ -0.4246297228336334,
1012
+ -0.39701993703842164,
1013
+ -0.2214553877711296,
1014
+ -0.6016289424896241,
1015
+ -0.4354751056432724,
1016
+ -0.34204369097948073,
1017
+ -0.48643052130937575
1018
+ ],
1019
+ [
1020
+ -0.4631043034791946,
1021
+ -0.43043495059013365,
1022
+ -0.24396144956350327,
1023
+ -0.6452852553129196,
1024
+ -0.48274969130754475,
1025
+ -0.37474200457334517,
1026
+ -0.5223605626821518
1027
+ ],
1028
+ [
1029
+ -0.49748061716556546,
1030
+ -0.4621176064014435,
1031
+ -0.26663132607936857,
1032
+ -0.6828319483995438,
1033
+ -0.5266985267400741,
1034
+ -0.405561118721962,
1035
+ -0.562670202255249
1036
+ ],
1037
+ [
1038
+ -0.5328240168094635,
1039
+ -0.494009091258049,
1040
+ -0.2876121011376381,
1041
+ -0.7214872932434082,
1042
+ -0.5695282351970673,
1043
+ -0.432939418554306,
1044
+ -0.5972101336717606
1045
+ ],
1046
+ [
1047
+ -0.568850531578064,
1048
+ -0.525094120502472,
1049
+ -0.3084470784664154,
1050
+ -0.7552746254205703,
1051
+ -0.6103701710700988,
1052
+ -0.45957748472690585,
1053
+ -0.6304508024454117
1054
+ ],
1055
+ [
1056
+ -0.6023232555389404,
1057
+ -0.5560738098621368,
1058
+ -0.32679895430803296,
1059
+ -0.7890292972326278,
1060
+ -0.6488577920198441,
1061
+ -0.48598604738712314,
1062
+ -0.6665207511186599
1063
+ ],
1064
+ [
1065
+ -0.635592737197876,
1066
+ -0.5857378947734833,
1067
+ -0.3437390214204788,
1068
+ -0.8165897405147553,
1069
+ -0.6851471370458603,
1070
+ -0.5111404401063919,
1071
+ -0.7003051912784577
1072
+ ],
1073
+ [
1074
+ -0.6689509296417236,
1075
+ -0.613246066570282,
1076
+ -0.3621692425012588,
1077
+ -0.8455596798658371,
1078
+ -0.7202299612760544,
1079
+ -0.5349519401788712,
1080
+ -0.7348480302095414
1081
+ ]
1082
+ ],
1083
+ "q99": [
1084
+ [
1085
+ 0.13169661283493062,
1086
+ 0.10631935611367087,
1087
+ 0.16993296027183558,
1088
+ 0.14436549007892616,
1089
+ 0.16040542185306617,
1090
+ 0.1395815563201905,
1091
+ 0.18882876545190844
1092
+ ],
1093
+ [
1094
+ 0.17826595336198806,
1095
+ 0.1377553713321681,
1096
+ 0.2327424705028535,
1097
+ 0.19773113727569608,
1098
+ 0.20776564300060274,
1099
+ 0.192252393215895,
1100
+ 0.2588647910952569
1101
+ ],
1102
+ [
1103
+ 0.2242814007401467,
1104
+ 0.1716906622052191,
1105
+ 0.29448902964592016,
1106
+ 0.24905292749404911,
1107
+ 0.2531298536062242,
1108
+ 0.24472250819206243,
1109
+ 0.32794143676757836
1110
+ ],
1111
+ [
1112
+ 0.26949023038148906,
1113
+ 0.2065080714225762,
1114
+ 0.35405850887298584,
1115
+ 0.2999463510513309,
1116
+ 0.29794500827789333,
1117
+ 0.2964011079072957,
1118
+ 0.39665868252515823
1119
+ ],
1120
+ [
1121
+ 0.31116830825805747,
1122
+ 0.2380280059576034,
1123
+ 0.4092996335029605,
1124
+ 0.3465729749202729,
1125
+ 0.3409919297695163,
1126
+ 0.3447523888945586,
1127
+ 0.46309631735086454
1128
+ ],
1129
+ [
1130
+ 0.3520875474810601,
1131
+ 0.269800459742542,
1132
+ 0.46485957503318814,
1133
+ 0.38842701852321637,
1134
+ 0.38497048139572154,
1135
+ 0.3911874392628684,
1136
+ 0.5266062211990357
1137
+ ],
1138
+ [
1139
+ 0.3900161913037301,
1140
+ 0.3025828671455382,
1141
+ 0.5150064003467566,
1142
+ 0.43002706646919325,
1143
+ 0.4237109234929089,
1144
+ 0.43604861259460487,
1145
+ 0.5889061784744264
1146
+ ],
1147
+ [
1148
+ 0.42632384389638905,
1149
+ 0.3346300196647644,
1150
+ 0.5621132916212082,
1151
+ 0.4666058295965201,
1152
+ 0.4591555213928234,
1153
+ 0.4786453548073774,
1154
+ 0.6472419387102128
1155
+ ],
1156
+ [
1157
+ 0.4619260051846508,
1158
+ 0.36572504758834645,
1159
+ 0.6048218321800234,
1160
+ 0.49993439376354226,
1161
+ 0.4921198835968973,
1162
+ 0.5171989846229554,
1163
+ 0.703360121250153
1164
+ ],
1165
+ [
1166
+ 0.4913615193963066,
1167
+ 0.3956988257169676,
1168
+ 0.6446655839681634,
1169
+ 0.5259422081708909,
1170
+ 0.5211970168352136,
1171
+ 0.554995521903038,
1172
+ 0.7563435375690467
1173
+ ],
1174
+ [
1175
+ 0.5216870218515404,
1176
+ 0.4250032591819744,
1177
+ 0.6805859214067463,
1178
+ 0.5507008266448976,
1179
+ 0.549845780134201,
1180
+ 0.5892827129364027,
1181
+ 0.8039395380020147
1182
+ ],
1183
+ [
1184
+ 0.546543883085251,
1185
+ 0.455361981391905,
1186
+ 0.7130002182722095,
1187
+ 0.5700214278697968,
1188
+ 0.5726789522171024,
1189
+ 0.6200685268640519,
1190
+ 0.8500241583585754
1191
+ ],
1192
+ [
1193
+ 0.5716580271720897,
1194
+ 0.4864065098762506,
1195
+ 0.7425530099868786,
1196
+ 0.5866735899448401,
1197
+ 0.5959365439414984,
1198
+ 0.6470852893590952,
1199
+ 0.8935753470659259
1200
+ ],
1201
+ [
1202
+ 0.594701029658318,
1203
+ 0.5156733620166722,
1204
+ 0.7669752401113523,
1205
+ 0.598404720425606,
1206
+ 0.6183917158842093,
1207
+ 0.6709074461460125,
1208
+ 0.9323461759090428
1209
+ ],
1210
+ [
1211
+ 0.6153572148084645,
1212
+ 0.5431557059288021,
1213
+ 0.7909284043312081,
1214
+ 0.6101094830036177,
1215
+ 0.6403779506683361,
1216
+ 0.6940450078248996,
1217
+ 0.9713166987895968
1218
+ ],
1219
+ [
1220
+ 0.6365716063976306,
1221
+ 0.5711308240890489,
1222
+ 0.8138875603675851,
1223
+ 0.6238943469524387,
1224
+ 0.6567116034030915,
1225
+ 0.7160046827793136,
1226
+ 0.999396387934685
1227
+ ]
1228
+ ]
1229
+ },
1230
+ "left_effector_position": {
1231
+ "min": [
1232
+ [
1233
+ -0.18084007501602173
1234
+ ],
1235
+ [
1236
+ -0.6062963604927063
1237
+ ],
1238
+ [
1239
+ -0.7837440371513367
1240
+ ],
1241
+ [
1242
+ -0.7837440371513367
1243
+ ],
1244
+ [
1245
+ -0.7837440371513367
1246
+ ],
1247
+ [
1248
+ -0.7837440371513367
1249
+ ],
1250
+ [
1251
+ -0.7837440371513367
1252
+ ],
1253
+ [
1254
+ -0.7837440371513367
1255
+ ],
1256
+ [
1257
+ -0.7837440371513367
1258
+ ],
1259
+ [
1260
+ -0.7837440371513367
1261
+ ],
1262
+ [
1263
+ -0.7837440371513367
1264
+ ],
1265
+ [
1266
+ -0.7837440371513367
1267
+ ],
1268
+ [
1269
+ -0.7837440371513367
1270
+ ],
1271
+ [
1272
+ -0.7837440371513367
1273
+ ],
1274
+ [
1275
+ -0.7837440371513367
1276
+ ],
1277
+ [
1278
+ -0.7837440371513367
1279
+ ]
1280
+ ],
1281
+ "max": [
1282
+ [
1283
+ 0.7548203468322754
1284
+ ],
1285
+ [
1286
+ 0.7850000262260437
1287
+ ],
1288
+ [
1289
+ 0.7850000262260437
1290
+ ],
1291
+ [
1292
+ 0.7850000262260437
1293
+ ],
1294
+ [
1295
+ 0.7850000262260437
1296
+ ],
1297
+ [
1298
+ 0.7850000262260437
1299
+ ],
1300
+ [
1301
+ 0.7850000262260437
1302
+ ],
1303
+ [
1304
+ 0.7850000262260437
1305
+ ],
1306
+ [
1307
+ 0.7850000262260437
1308
+ ],
1309
+ [
1310
+ 0.7850000262260437
1311
+ ],
1312
+ [
1313
+ 0.7850000262260437
1314
+ ],
1315
+ [
1316
+ 0.7850000262260437
1317
+ ],
1318
+ [
1319
+ 0.7850000262260437
1320
+ ],
1321
+ [
1322
+ 0.7850000262260437
1323
+ ],
1324
+ [
1325
+ 0.7850000262260437
1326
+ ],
1327
+ [
1328
+ 0.7850000262260437
1329
+ ]
1330
+ ],
1331
+ "mean": [
1332
+ [
1333
+ 0.13242051803639956
1334
+ ],
1335
+ [
1336
+ 0.1326318564159529
1337
+ ],
1338
+ [
1339
+ 0.13279632319297108
1340
+ ],
1341
+ [
1342
+ 0.13291949406266212
1343
+ ],
1344
+ [
1345
+ 0.13301590883306094
1346
+ ],
1347
+ [
1348
+ 0.13308785430022646
1349
+ ],
1350
+ [
1351
+ 0.1331337477479662
1352
+ ],
1353
+ [
1354
+ 0.13314420038035937
1355
+ ],
1356
+ [
1357
+ 0.13314686981695037
1358
+ ],
1359
+ [
1360
+ 0.1331495972616332
1361
+ ],
1362
+ [
1363
+ 0.13315146788954735
1364
+ ],
1365
+ [
1366
+ 0.13315367911543166
1367
+ ],
1368
+ [
1369
+ 0.13315598081265176
1370
+ ],
1371
+ [
1372
+ 0.133158161171845
1373
+ ],
1374
+ [
1375
+ 0.13316049054265022
1376
+ ],
1377
+ [
1378
+ 0.13316276243754796
1379
+ ]
1380
+ ],
1381
+ "std": [
1382
+ [
1383
+ 0.07797968324502973
1384
+ ],
1385
+ [
1386
+ 0.07899530909112028
1387
+ ],
1388
+ [
1389
+ 0.08058302680597955
1390
+ ],
1391
+ [
1392
+ 0.0823061497893814
1393
+ ],
1394
+ [
1395
+ 0.08409921329720108
1396
+ ],
1397
+ [
1398
+ 0.08595019146925141
1399
+ ],
1400
+ [
1401
+ 0.08786277764110913
1402
+ ],
1403
+ [
1404
+ 0.08982026163447257
1405
+ ],
1406
+ [
1407
+ 0.09181011087803238
1408
+ ],
1409
+ [
1410
+ 0.09381905718725098
1411
+ ],
1412
+ [
1413
+ 0.09585011106301657
1414
+ ],
1415
+ [
1416
+ 0.09791600217527824
1417
+ ],
1418
+ [
1419
+ 0.1000295804655236
1420
+ ],
1421
+ [
1422
+ 0.1021973799578019
1423
+ ],
1424
+ [
1425
+ 0.10439758777897756
1426
+ ],
1427
+ [
1428
+ 0.10661227318879195
1429
+ ]
1430
+ ],
1431
+ "q01": [
1432
+ [
1433
+ -0.020271447896957395
1434
+ ],
1435
+ [
1436
+ -0.020103242397308346
1437
+ ],
1438
+ [
1439
+ -0.022572703957557675
1440
+ ],
1441
+ [
1442
+ -0.025089107155799862
1443
+ ],
1444
+ [
1445
+ -0.029879537820816038
1446
+ ],
1447
+ [
1448
+ -0.2605223599076271
1449
+ ],
1450
+ [
1451
+ -0.3417324721813202
1452
+ ],
1453
+ [
1454
+ -0.5804729461669922
1455
+ ],
1456
+ [
1457
+ -0.5844499993324279
1458
+ ],
1459
+ [
1460
+ -0.5850951075553894
1461
+ ],
1462
+ [
1463
+ -0.5862003564834595
1464
+ ],
1465
+ [
1466
+ -0.5886118412017822
1467
+ ],
1468
+ [
1469
+ -0.5918272137641907
1470
+ ],
1471
+ [
1472
+ -0.5930330157279968
1473
+ ],
1474
+ [
1475
+ -0.5939372777938843
1476
+ ],
1477
+ [
1478
+ -0.5949420928955078
1479
+ ]
1480
+ ],
1481
+ "q99": [
1482
+ [
1483
+ 0.5695278435945511
1484
+ ],
1485
+ [
1486
+ 0.569535203576088
1487
+ ],
1488
+ [
1489
+ 0.5695508199930192
1490
+ ],
1491
+ [
1492
+ 0.6229257583618164
1493
+ ],
1494
+ [
1495
+ 0.7850000262260437
1496
+ ],
1497
+ [
1498
+ 0.7850000262260437
1499
+ ],
1500
+ [
1501
+ 0.7850000262260437
1502
+ ],
1503
+ [
1504
+ 0.7850000262260437
1505
+ ],
1506
+ [
1507
+ 0.7850000262260437
1508
+ ],
1509
+ [
1510
+ 0.7850000262260437
1511
+ ],
1512
+ [
1513
+ 0.7850000262260437
1514
+ ],
1515
+ [
1516
+ 0.7850000262260437
1517
+ ],
1518
+ [
1519
+ 0.7850000262260437
1520
+ ],
1521
+ [
1522
+ 0.7850000262260437
1523
+ ],
1524
+ [
1525
+ 0.7850000262260437
1526
+ ],
1527
+ [
1528
+ 0.7850000262260437
1529
+ ]
1530
+ ]
1531
+ },
1532
+ "right_arm_joint_position": {
1533
+ "min": [
1534
+ [
1535
+ -0.24098503589630127,
1536
+ -0.23614263534545898,
1537
+ -0.8926054239273071,
1538
+ -0.2289520502090454,
1539
+ -1.0994170904159546,
1540
+ -0.3047076463699341,
1541
+ -0.37421858310699463
1542
+ ],
1543
+ [
1544
+ -0.5108206868171692,
1545
+ -0.6668699979782104,
1546
+ -0.9972054362297058,
1547
+ -0.6251218318939209,
1548
+ -1.1317375898361206,
1549
+ -0.5115996599197388,
1550
+ -0.8452274799346924
1551
+ ],
1552
+ [
1553
+ -0.5901330709457397,
1554
+ -0.6847602128982544,
1555
+ -1.1018054485321045,
1556
+ -0.6251218318939209,
1557
+ -1.1317377090454102,
1558
+ -0.612266480922699,
1559
+ -0.8617374300956726
1560
+ ],
1561
+ [
1562
+ -0.5917611718177795,
1563
+ -0.7083539962768555,
1564
+ -1.2064054012298584,
1565
+ -0.7145680785179138,
1566
+ -1.1317378282546997,
1567
+ -0.7143425941467285,
1568
+ -0.884993851184845
1569
+ ],
1570
+ [
1571
+ -0.6007928848266602,
1572
+ -0.7083539962768555,
1573
+ -1.311105489730835,
1574
+ -0.7215353846549988,
1575
+ -1.1317379474639893,
1576
+ -0.8184876441955566,
1577
+ -0.9417089819908142
1578
+ ],
1579
+ [
1580
+ -0.6894503831863403,
1581
+ -0.7083539962768555,
1582
+ -1.4157054424285889,
1583
+ -0.823880672454834,
1584
+ -1.1462583541870117,
1585
+ -0.9235254526138306,
1586
+ -1.038478970527649
1587
+ ],
1588
+ [
1589
+ -0.7465049028396606,
1590
+ -0.7083539962768555,
1591
+ -1.5203053951263428,
1592
+ -0.8870794773101807,
1593
+ -1.2517482042312622,
1594
+ -1.0287278890609741,
1595
+ -1.0878781080245972
1596
+ ],
1597
+ [
1598
+ -0.7795392274856567,
1599
+ -0.844295859336853,
1600
+ -1.6250054836273193,
1601
+ -0.9410586357116699,
1602
+ -1.355762004852295,
1603
+ -1.1224216222763062,
1604
+ -1.2442817687988281
1605
+ ],
1606
+ [
1607
+ -0.8752776980400085,
1608
+ -0.9415469765663147,
1609
+ -1.7296054363250732,
1610
+ -0.9789078235626221,
1611
+ -1.4327058792114258,
1612
+ -1.1896723508834839,
1613
+ -1.2967517375946045
1614
+ ],
1615
+ [
1616
+ -0.9753224849700928,
1617
+ -1.0282484292984009,
1618
+ -1.8343055248260498,
1619
+ -1.0367369651794434,
1620
+ -1.4829732179641724,
1621
+ -1.2377820014953613,
1622
+ -1.2967517375946045
1623
+ ],
1624
+ [
1625
+ -1.0773324966430664,
1626
+ -1.063569188117981,
1627
+ -1.9389054775238037,
1628
+ -1.09993577003479,
1629
+ -1.5048010349273682,
1630
+ -1.3092677593231201,
1631
+ -1.37359619140625
1632
+ ],
1633
+ [
1634
+ -1.175781488418579,
1635
+ -1.1134617328643799,
1636
+ -2.0425474643707275,
1637
+ -1.156984567642212,
1638
+ -1.5112576484680176,
1639
+ -1.4165380001068115,
1640
+ -1.445704460144043
1641
+ ],
1642
+ [
1643
+ -1.270739197731018,
1644
+ -1.2097536325454712,
1645
+ -2.1449475288391113,
1646
+ -1.231715440750122,
1647
+ -1.5398744344711304,
1648
+ -1.5317037105560303,
1649
+ -1.5164045095443726
1650
+ ],
1651
+ [
1652
+ -1.3693993091583252,
1653
+ -1.3043231964111328,
1654
+ -2.234147548675537,
1655
+ -1.3235262632369995,
1656
+ -1.5596375465393066,
1657
+ -1.631500244140625,
1658
+ -1.5733044147491455
1659
+ ],
1660
+ [
1661
+ -1.4601500034332275,
1662
+ -1.4077072143554688,
1663
+ -2.321789503097534,
1664
+ -1.4269050359725952,
1665
+ -1.5770506858825684,
1666
+ -1.7200499773025513,
1667
+ -1.6476311683654785
1668
+ ],
1669
+ [
1670
+ -1.5599473714828491,
1671
+ -1.5100224018096924,
1672
+ -2.3963894844055176,
1673
+ -1.5114659070968628,
1674
+ -1.6832903623580933,
1675
+ -1.7640471458435059,
1676
+ -1.7063876390457153
1677
+ ]
1678
+ ],
1679
+ "max": [
1680
+ [
1681
+ 0.9022495746612549,
1682
+ 0.24692147970199585,
1683
+ 0.20185554027557373,
1684
+ 0.23012572526931763,
1685
+ 0.3549734354019165,
1686
+ 0.24707883596420288,
1687
+ 0.23868414759635925
1688
+ ],
1689
+ [
1690
+ 1.039849042892456,
1691
+ 0.6740776300430298,
1692
+ 0.5916033983230591,
1693
+ 0.5283675193786621,
1694
+ 0.8003917336463928,
1695
+ 0.6772152781486511,
1696
+ 1.653906226158142
1697
+ ],
1698
+ [
1699
+ 1.111749529838562,
1700
+ 0.7766479253768921,
1701
+ 0.6539203524589539,
1702
+ 0.5283675193786621,
1703
+ 0.9159660935401917,
1704
+ 0.6772153973579407,
1705
+ 1.6581764221191406
1706
+ ],
1707
+ [
1708
+ 1.2163496017456055,
1709
+ 0.8220829963684082,
1710
+ 0.6953877210617065,
1711
+ 0.5937060117721558,
1712
+ 0.9615060091018677,
1713
+ 0.6772155165672302,
1714
+ 1.6641308069229126
1715
+ ],
1716
+ [
1717
+ 1.3210495710372925,
1718
+ 0.8220829963684082,
1719
+ 0.76982182264328,
1720
+ 0.6625041365623474,
1721
+ 0.9953495264053345,
1722
+ 0.6772156357765198,
1723
+ 1.6679381132125854
1724
+ ],
1725
+ [
1726
+ 1.4256495237350464,
1727
+ 0.8220829963684082,
1728
+ 0.8197052478790283,
1729
+ 0.7015333771705627,
1730
+ 1.0174802541732788,
1731
+ 0.716608464717865,
1732
+ 1.672433853149414
1733
+ ],
1734
+ [
1735
+ 1.5302495956420898,
1736
+ 0.8220829963684082,
1737
+ 0.8197052478790283,
1738
+ 0.7266660928726196,
1739
+ 1.0435212850570679,
1740
+ 0.746550977230072,
1741
+ 1.672433853149414
1742
+ ],
1743
+ [
1744
+ 1.6347495317459106,
1745
+ 0.8606016039848328,
1746
+ 0.9674515724182129,
1747
+ 0.7680498361587524,
1748
+ 1.0541471242904663,
1749
+ 0.7963333129882812,
1750
+ 1.672433853149414
1751
+ ],
1752
+ [
1753
+ 1.739349603652954,
1754
+ 0.9789373874664307,
1755
+ 0.9674515724182129,
1756
+ 0.8435498476028442,
1757
+ 1.1589080095291138,
1758
+ 0.9093430042266846,
1759
+ 1.672433853149414
1760
+ ],
1761
+ [
1762
+ 1.8437495231628418,
1763
+ 0.9789407253265381,
1764
+ 1.0015383958816528,
1765
+ 0.9391411542892456,
1766
+ 1.2741835117340088,
1767
+ 1.0230398178100586,
1768
+ 1.672433853149414
1769
+ ],
1770
+ [
1771
+ 1.9482495784759521,
1772
+ 1.0382970571517944,
1773
+ 1.1025562286376953,
1774
+ 1.0299831628799438,
1775
+ 1.3652244806289673,
1776
+ 1.135663628578186,
1777
+ 1.672433853149414
1778
+ ],
1779
+ [
1780
+ 2.051891565322876,
1781
+ 1.1415494680404663,
1782
+ 1.2017922401428223,
1783
+ 1.112350344657898,
1784
+ 1.4694733619689941,
1785
+ 1.2276912927627563,
1786
+ 1.672433853149414
1787
+ ],
1788
+ [
1789
+ 2.1540915966033936,
1790
+ 1.2342381477355957,
1791
+ 1.3015493154525757,
1792
+ 1.205947756767273,
1793
+ 1.5737030506134033,
1794
+ 1.3130863904953003,
1795
+ 1.672433853149414
1796
+ ],
1797
+ [
1798
+ 2.2431914806365967,
1799
+ 1.3152223825454712,
1800
+ 1.4009839296340942,
1801
+ 1.2858086824417114,
1802
+ 1.6777675151824951,
1803
+ 1.3796813488006592,
1804
+ 1.672433853149414
1805
+ ],
1806
+ [
1807
+ 2.3308334350585938,
1808
+ 1.4030137062072754,
1809
+ 1.500784158706665,
1810
+ 1.3557417392730713,
1811
+ 1.7826058864593506,
1812
+ 1.4571685791015625,
1813
+ 1.672433853149414
1814
+ ],
1815
+ [
1816
+ 2.4053335189819336,
1817
+ 1.48451566696167,
1818
+ 1.6002355813980103,
1819
+ 1.4159173965454102,
1820
+ 1.8792747259140015,
1821
+ 1.5535112619400024,
1822
+ 1.7219374179840088
1823
+ ]
1824
+ ],
1825
+ "mean": [
1826
+ [
1827
+ 0.000401547976902553,
1828
+ -0.00048341656968529733,
1829
+ -0.0015099259492542061,
1830
+ 0.0004759165458381176,
1831
+ -0.0006087281092602227,
1832
+ 0.0004994282332648123,
1833
+ -0.000859220088126936
1834
+ ],
1835
+ [
1836
+ 0.0013151307526056502,
1837
+ -0.0004495820993335136,
1838
+ -0.0032961735053374597,
1839
+ 0.0007305609428353169,
1840
+ -0.0008068125896768054,
1841
+ 0.0008186866013732339,
1842
+ -0.0020255712510593832
1843
+ ],
1844
+ [
1845
+ 0.0022222524968518492,
1846
+ -0.00042065784158954296,
1847
+ -0.005059911464741162,
1848
+ 0.0009868417239756256,
1849
+ -0.000982430105848055,
1850
+ 0.0011181099520659438,
1851
+ -0.003157456870602411
1852
+ ],
1853
+ [
1854
+ 0.003120051064797735,
1855
+ -0.0003967865270949135,
1856
+ -0.006793075512437748,
1857
+ 0.0012425523514788697,
1858
+ -0.0011334245032880322,
1859
+ 0.0013963013043394312,
1860
+ -0.00424840489514671
1861
+ ],
1862
+ [
1863
+ 0.00400529122349066,
1864
+ -0.000378899420736291,
1865
+ -0.008487437063584884,
1866
+ 0.0014959073319654893,
1867
+ -0.0012571872440665694,
1868
+ 0.0016525583128636106,
1869
+ -0.005293660857465252
1870
+ ],
1871
+ [
1872
+ 0.004874913504214158,
1873
+ -0.0003671083155235724,
1874
+ -0.010136081575183198,
1875
+ 0.0017451015165923828,
1876
+ -0.00135181593681669,
1877
+ 0.0018860067608069842,
1878
+ -0.006289198757648201
1879
+ ],
1880
+ [
1881
+ 0.005727038179299726,
1882
+ -0.0003612241024321909,
1883
+ -0.011734630541468503,
1884
+ 0.0019886136940060945,
1885
+ -0.0014166263572406024,
1886
+ 0.002095591005334947,
1887
+ -0.007234027688225199
1888
+ ],
1889
+ [
1890
+ 0.006559711027616035,
1891
+ -0.0003609785978499401,
1892
+ -0.013279616361874753,
1893
+ 0.0022260927796326413,
1894
+ -0.0014512399460987321,
1895
+ 0.002280148316848291,
1896
+ -0.008129129186272621
1897
+ ],
1898
+ [
1899
+ 0.007371419789186412,
1900
+ -0.00036613878208819576,
1901
+ -0.014768432555553903,
1902
+ 0.002457515251860189,
1903
+ -0.0014561751449946314,
1904
+ 0.0024392689707123543,
1905
+ -0.008976639023915465
1906
+ ],
1907
+ [
1908
+ 0.00816116331511044,
1909
+ -0.00037609753157344795,
1910
+ -0.01620018917726286,
1911
+ 0.0026830413914597424,
1912
+ -0.0014331441156433095,
1913
+ 0.0025726946790070667,
1914
+ -0.0097804366211806
1915
+ ],
1916
+ [
1917
+ 0.008928969625620602,
1918
+ -0.0003906751023480734,
1919
+ -0.017574612015908184,
1920
+ 0.0029038725912999197,
1921
+ -0.0013825429611772832,
1922
+ 0.0026796735785735238,
1923
+ -0.010543952446563969
1924
+ ],
1925
+ [
1926
+ 0.009675426071875597,
1927
+ -0.00040868105991518993,
1928
+ -0.018893099826527756,
1929
+ 0.003120169065498755,
1930
+ -0.001306794775051198,
1931
+ 0.0027607222499292606,
1932
+ -0.011271863760027503
1933
+ ],
1934
+ [
1935
+ 0.010401797497511973,
1936
+ -0.00042946611418821193,
1937
+ -0.020157556623286967,
1938
+ 0.003333409070494651,
1939
+ -0.0012079193630987507,
1940
+ 0.002815317840681278,
1941
+ -0.011969134544155427
1942
+ ],
1943
+ [
1944
+ 0.011110208845431251,
1945
+ -0.00045271663007692307,
1946
+ -0.02137085486486155,
1947
+ 0.003545671719686132,
1948
+ -0.001087840642347666,
1949
+ 0.002843286492861807,
1950
+ -0.012641299116824354
1951
+ ],
1952
+ [
1953
+ 0.011802561930380762,
1954
+ -0.00047798940633064,
1955
+ -0.022537164893167625,
1956
+ 0.0037590579577226886,
1957
+ -0.0009488495956507643,
1958
+ 0.0028459702131970388,
1959
+ -0.013294136733748019
1960
+ ],
1961
+ [
1962
+ 0.012480524909083864,
1963
+ -0.0005047199025024644,
1964
+ -0.023660022898444107,
1965
+ 0.003974888386177813,
1966
+ -0.0007927573876388904,
1967
+ 0.0028241966006135044,
1968
+ -0.013932632698145295
1969
+ ]
1970
+ ],
1971
+ "std": [
1972
+ [
1973
+ 0.012821934492711459,
1974
+ 0.009842174743722764,
1975
+ 0.013340183521055335,
1976
+ 0.013038406088057213,
1977
+ 0.01256203318800452,
1978
+ 0.010321814730651952,
1979
+ 0.013347275205070343
1980
+ ],
1981
+ [
1982
+ 0.019957736739825635,
1983
+ 0.018106934992971637,
1984
+ 0.021437768396838634,
1985
+ 0.02381928928988904,
1986
+ 0.02537768580967528,
1987
+ 0.02144891765524497,
1988
+ 0.02609744350944435
1989
+ ],
1990
+ [
1991
+ 0.029170448242755383,
1992
+ 0.029309490419363607,
1993
+ 0.032188225389120556,
1994
+ 0.038409072148200225,
1995
+ 0.04311026939067798,
1996
+ 0.03648486957099537,
1997
+ 0.0432113877594396
1998
+ ],
1999
+ [
2000
+ 0.03871193617870629,
2001
+ 0.04078889461934927,
2002
+ 0.04332682234784929,
2003
+ 0.05333720256130935,
2004
+ 0.06099085690826065,
2005
+ 0.051578483475716065,
2006
+ 0.06048484066821648
2007
+ ],
2008
+ [
2009
+ 0.04813866912981789,
2010
+ 0.052092975685348306,
2011
+ 0.05433464795684293,
2012
+ 0.06799842096751059,
2013
+ 0.07835732192242523,
2014
+ 0.06620991480780856,
2015
+ 0.07725765221942239
2016
+ ],
2017
+ [
2018
+ 0.05725944864063646,
2019
+ 0.06306957668012103,
2020
+ 0.06499880382642023,
2021
+ 0.08219246576805984,
2022
+ 0.09503292782918613,
2023
+ 0.08024501893707355,
2024
+ 0.09334346895103662
2025
+ ],
2026
+ [
2027
+ 0.0660312189979949,
2028
+ 0.0736769351821767,
2029
+ 0.0752626041341671,
2030
+ 0.09586722447037735,
2031
+ 0.110971847418625,
2032
+ 0.09365251736528174,
2033
+ 0.10868011992250301
2034
+ ],
2035
+ [
2036
+ 0.07442844795312076,
2037
+ 0.08390850822625077,
2038
+ 0.08509701765475383,
2039
+ 0.1090093673075128,
2040
+ 0.126175570840381,
2041
+ 0.10644447686845591,
2042
+ 0.12327615045390292
2043
+ ],
2044
+ [
2045
+ 0.08243552486528119,
2046
+ 0.09376226935381887,
2047
+ 0.09449677514876659,
2048
+ 0.12162174192113111,
2049
+ 0.140666480557051,
2050
+ 0.11864331135653912,
2051
+ 0.13714258325744605
2052
+ ],
2053
+ [
2054
+ 0.09007072017942813,
2055
+ 0.1032511659544396,
2056
+ 0.10346240531081415,
2057
+ 0.13372367169851723,
2058
+ 0.15448227375492352,
2059
+ 0.13028156705888086,
2060
+ 0.15031445008716682
2061
+ ],
2062
+ [
2063
+ 0.09734081338686892,
2064
+ 0.11239877710417372,
2065
+ 0.11199498870979169,
2066
+ 0.14534144167705215,
2067
+ 0.16766474652672628,
2068
+ 0.14139448778840377,
2069
+ 0.16284350474878218
2070
+ ],
2071
+ [
2072
+ 0.10428126966513454,
2073
+ 0.12122060974180529,
2074
+ 0.12011972986666228,
2075
+ 0.15649769909964054,
2076
+ 0.1802590815393586,
2077
+ 0.15200929985865397,
2078
+ 0.1747571308706387
2079
+ ],
2080
+ [
2081
+ 0.11089879919891092,
2082
+ 0.12974221679042278,
2083
+ 0.12786638796415037,
2084
+ 0.16722995453275874,
2085
+ 0.1923111205229255,
2086
+ 0.16215632186726295,
2087
+ 0.1861101359948106
2088
+ ],
2089
+ [
2090
+ 0.1172440462101194,
2091
+ 0.13798800684833465,
2092
+ 0.13525967380003226,
2093
+ 0.17757162414086108,
2094
+ 0.20386639779014984,
2095
+ 0.17187121043033532,
2096
+ 0.19694234239292838
2097
+ ],
2098
+ [
2099
+ 0.12333714896687521,
2100
+ 0.14597545685820984,
2101
+ 0.14232741713476832,
2102
+ 0.18754651729587138,
2103
+ 0.21495923218415328,
2104
+ 0.1811778448629494,
2105
+ 0.20729836222105708
2106
+ ],
2107
+ [
2108
+ 0.12918548980093736,
2109
+ 0.15371241081512865,
2110
+ 0.1490863848209064,
2111
+ 0.19719791687161,
2112
+ 0.22562784039760064,
2113
+ 0.19010482179439397,
2114
+ 0.2172132286616037
2115
+ ]
2116
+ ],
2117
+ "q01": [
2118
+ [
2119
+ -0.15397220343351364,
2120
+ -0.11958929941058159,
2121
+ -0.17764491468667984,
2122
+ -0.15958993434906005,
2123
+ -0.16705858945846558,
2124
+ -0.0850655534863472,
2125
+ -0.19113850563764573
2126
+ ],
2127
+ [
2128
+ -0.208855821788311,
2129
+ -0.1562151575088501,
2130
+ -0.2424703946709633,
2131
+ -0.22034765809774398,
2132
+ -0.21323794424533843,
2133
+ -0.10925660818815232,
2134
+ -0.262206911444664
2135
+ ],
2136
+ [
2137
+ -0.2634281712770462,
2138
+ -0.19240672588348387,
2139
+ -0.3062208312749863,
2140
+ -0.2798385608196259,
2141
+ -0.2618891429901123,
2142
+ -0.19984795331954955,
2143
+ -0.33224391013383864
2144
+ ],
2145
+ [
2146
+ -0.31528291016817095,
2147
+ -0.23056842803955077,
2148
+ -0.36820329546928404,
2149
+ -0.33810550689697266,
2150
+ -0.3056093755364418,
2151
+ -0.2866175866127014,
2152
+ -0.4007963517308235
2153
+ ],
2154
+ [
2155
+ -0.36528090566396715,
2156
+ -0.26501951456069944,
2157
+ -0.42838277518749235,
2158
+ -0.3954464089870453,
2159
+ -0.34816872954368594,
2160
+ -0.3615357756614685,
2161
+ -0.4672597429156303
2162
+ ],
2163
+ [
2164
+ -0.41126165360212324,
2165
+ -0.30174115419387815,
2166
+ -0.5016643667221069,
2167
+ -0.4527212381362915,
2168
+ -0.39811432361602783,
2169
+ -0.4275574266910553,
2170
+ -0.531552882194519
2171
+ ],
2172
+ [
2173
+ -0.45404441297054293,
2174
+ -0.3443585729598999,
2175
+ -0.5938003295660019,
2176
+ -0.5279076051712036,
2177
+ -0.45509164571762084,
2178
+ -0.48397959232330323,
2179
+ -0.5933854740858078
2180
+ ],
2181
+ [
2182
+ -0.4976828417181969,
2183
+ -0.39172066122293475,
2184
+ -0.6816474443674088,
2185
+ -0.5978443145751953,
2186
+ -0.5052187442779541,
2187
+ -0.5374350023269653,
2188
+ -0.6517317849397659
2189
+ ],
2190
+ [
2191
+ -0.5341664797067642,
2192
+ -0.43784256279468536,
2193
+ -0.7641302514076233,
2194
+ -0.6632647752761841,
2195
+ -0.5507633662223815,
2196
+ -0.5880381989479065,
2197
+ -0.7065613281726837
2198
+ ],
2199
+ [
2200
+ -0.5715728402137756,
2201
+ -0.48179168581962584,
2202
+ -0.8414024323225021,
2203
+ -0.7217651343345642,
2204
+ -0.5893774843215942,
2205
+ -0.6311736798286438,
2206
+ -0.7576316636800766
2207
+ ],
2208
+ [
2209
+ -0.6053265333175659,
2210
+ -0.5225449019670486,
2211
+ -0.9119324535131454,
2212
+ -0.7781654596328735,
2213
+ -0.6318889689445495,
2214
+ -0.6695353293418884,
2215
+ -0.8053644889593125
2216
+ ],
2217
+ [
2218
+ -0.6347467601299286,
2219
+ -0.5615779268741607,
2220
+ -0.9783915275335312,
2221
+ -0.826442699432373,
2222
+ -0.6848034387826919,
2223
+ -0.7062866854667663,
2224
+ -0.8496673560142517
2225
+ ],
2226
+ [
2227
+ -0.6640048915147782,
2228
+ -0.5981786686182022,
2229
+ -1.0401201605796815,
2230
+ -0.87474543094635,
2231
+ -0.7314911341667175,
2232
+ -0.7358942890167236,
2233
+ -0.8916565221548081
2234
+ ],
2235
+ [
2236
+ -0.6934378361701965,
2237
+ -0.6368794232606888,
2238
+ -1.094116576910019,
2239
+ -0.9135770201683044,
2240
+ -0.7765492105484009,
2241
+ -0.764601394534111,
2242
+ -0.9303459477424622
2243
+ ],
2244
+ [
2245
+ -0.7178542524576187,
2246
+ -0.6696240955591202,
2247
+ -1.1462680673599244,
2248
+ -0.9520277309417725,
2249
+ -0.8181461691856384,
2250
+ -0.8034127813577652,
2251
+ -0.9701135897636414
2252
+ ],
2253
+ [
2254
+ -0.7411052876710892,
2255
+ -0.7037472254037858,
2256
+ -1.189969415664673,
2257
+ -0.9880086517333985,
2258
+ -0.8595116925239562,
2259
+ -0.8380944353342056,
2260
+ -1.0173619413375854
2261
+ ]
2262
+ ],
2263
+ "q99": [
2264
+ [
2265
+ 0.12636948376894003,
2266
+ 0.09246628999710041,
2267
+ 0.059775062799453674,
2268
+ 0.15071616232395177,
2269
+ 0.08634890794753955,
2270
+ 0.14081986725330384,
2271
+ 0.08647277593612662
2272
+ ],
2273
+ [
2274
+ 0.17472919806838047,
2275
+ 0.12165575742721506,
2276
+ 0.07896118447184583,
2277
+ 0.20728119790554053,
2278
+ 0.11300459027290326,
2279
+ 0.19306322008371354,
2280
+ 0.11321668148040764
2281
+ ],
2282
+ [
2283
+ 0.22103581562638286,
2284
+ 0.17612273573875462,
2285
+ 0.15479833662509992,
2286
+ 0.2623979228734973,
2287
+ 0.19993880033493056,
2288
+ 0.2459061229228979,
2289
+ 0.1888199841976169
2290
+ ],
2291
+ [
2292
+ 0.26490363776683834,
2293
+ 0.2534168559312848,
2294
+ 0.2272557616233828,
2295
+ 0.3149983453750611,
2296
+ 0.29659354209899913,
2297
+ 0.295630959272385,
2298
+ 0.26953888535499604
2299
+ ],
2300
+ [
2301
+ 0.3268548330664639,
2302
+ 0.3247852921485901,
2303
+ 0.29198717266321195,
2304
+ 0.3658620530366904,
2305
+ 0.3887595915794373,
2306
+ 0.342092121243477,
2307
+ 0.34550689697265824
2308
+ ],
2309
+ [
2310
+ 0.3937372684478763,
2311
+ 0.3900359725952153,
2312
+ 0.35445699274540116,
2313
+ 0.41140033006668175,
2314
+ 0.475747106075287,
2315
+ 0.3919901141524318,
2316
+ 0.41191726446151744
2317
+ ],
2318
+ [
2319
+ 0.45490124076605015,
2320
+ 0.45152098178863775,
2321
+ 0.41046691298484844,
2322
+ 0.4559751093387609,
2323
+ 0.5573789501190186,
2324
+ 0.4325723925232891,
2325
+ 0.4728616786003119
2326
+ ],
2327
+ [
2328
+ 0.5118953561782846,
2329
+ 0.5113570916652694,
2330
+ 0.46254133254289703,
2331
+ 0.49405148684978656,
2332
+ 0.6279050230979922,
2333
+ 0.47582711786031723,
2334
+ 0.5346149182319675
2335
+ ],
2336
+ [
2337
+ 0.5641559815406815,
2338
+ 0.5640178614854815,
2339
+ 0.5127929526567466,
2340
+ 0.5292419570684435,
2341
+ 0.6890836477279682,
2342
+ 0.513470877408983,
2343
+ 0.5876151180267343
2344
+ ],
2345
+ [
2346
+ 0.6119640672206896,
2347
+ 0.6183042305707939,
2348
+ 0.5578639984130876,
2349
+ 0.5615615439414983,
2350
+ 0.7452495479583743,
2351
+ 0.5483664798736576,
2352
+ 0.6363360977172853
2353
+ ],
2354
+ [
2355
+ 0.6577412748336814,
2356
+ 0.662383962869646,
2357
+ 0.6003135997056998,
2358
+ 0.5859225410223015,
2359
+ 0.7937314796447758,
2360
+ 0.5792486119270344,
2361
+ 0.6797853946685793
2362
+ ],
2363
+ [
2364
+ 0.6977549308538475,
2365
+ 0.7069941759109497,
2366
+ 0.6395413380861306,
2367
+ 0.6041844487190267,
2368
+ 0.841703338623047,
2369
+ 0.6075896972417841,
2370
+ 0.7265697550773625
2371
+ ],
2372
+ [
2373
+ 0.7368093651533143,
2374
+ 0.7488190227746966,
2375
+ 0.6753309357166303,
2376
+ 0.6360569763183593,
2377
+ 0.8891666102409367,
2378
+ 0.6391738688945763,
2379
+ 0.7685561752319351
2380
+ ],
2381
+ [
2382
+ 0.7753939890861526,
2383
+ 0.7954559946060188,
2384
+ 0.7126961612701421,
2385
+ 0.6797600495815277,
2386
+ 0.9338809180259712,
2387
+ 0.671211903095245,
2388
+ 0.8052848243713381
2389
+ ],
2390
+ [
2391
+ 0.8118881422281276,
2392
+ 0.839525867104531,
2393
+ 0.7430950677394884,
2394
+ 0.7201618844270704,
2395
+ 0.9775804042816164,
2396
+ 0.7014102053642265,
2397
+ 0.843636462688447
2398
+ ],
2399
+ [
2400
+ 0.8446694105863602,
2401
+ 0.8765356171131145,
2402
+ 0.7703576540946989,
2403
+ 0.7572930407524108,
2404
+ 1.0242755746841459,
2405
+ 0.7306147503852839,
2406
+ 0.8719726610183723
2407
+ ]
2408
+ ]
2409
+ },
2410
+ "right_effector_position": {
2411
+ "min": [
2412
+ [
2413
+ -0.18083184957504272
2414
+ ],
2415
+ [
2416
+ -0.7837440371513367
2417
+ ],
2418
+ [
2419
+ -0.7837440371513367
2420
+ ],
2421
+ [
2422
+ -0.7837440371513367
2423
+ ],
2424
+ [
2425
+ -0.7837440371513367
2426
+ ],
2427
+ [
2428
+ -0.7837440371513367
2429
+ ],
2430
+ [
2431
+ -0.7837440371513367
2432
+ ],
2433
+ [
2434
+ -0.7837440371513367
2435
+ ],
2436
+ [
2437
+ -0.7837440371513367
2438
+ ],
2439
+ [
2440
+ -0.7837440371513367
2441
+ ],
2442
+ [
2443
+ -0.7837440371513367
2444
+ ],
2445
+ [
2446
+ -0.7837440371513367
2447
+ ],
2448
+ [
2449
+ -0.7837440371513367
2450
+ ],
2451
+ [
2452
+ -0.7837440371513367
2453
+ ],
2454
+ [
2455
+ -0.7837440371513367
2456
+ ],
2457
+ [
2458
+ -0.7837440371513367
2459
+ ]
2460
+ ],
2461
+ "max": [
2462
+ [
2463
+ 0.7546358704566956
2464
+ ],
2465
+ [
2466
+ 0.7850000262260437
2467
+ ],
2468
+ [
2469
+ 0.7850000262260437
2470
+ ],
2471
+ [
2472
+ 0.7850000262260437
2473
+ ],
2474
+ [
2475
+ 0.7850000262260437
2476
+ ],
2477
+ [
2478
+ 0.7850000262260437
2479
+ ],
2480
+ [
2481
+ 0.7850000262260437
2482
+ ],
2483
+ [
2484
+ 0.7850000262260437
2485
+ ],
2486
+ [
2487
+ 0.7850000262260437
2488
+ ],
2489
+ [
2490
+ 0.7850000262260437
2491
+ ],
2492
+ [
2493
+ 0.7850000262260437
2494
+ ],
2495
+ [
2496
+ 0.7850000262260437
2497
+ ],
2498
+ [
2499
+ 0.7850000262260437
2500
+ ],
2501
+ [
2502
+ 0.7850000262260437
2503
+ ],
2504
+ [
2505
+ 0.7850000262260437
2506
+ ],
2507
+ [
2508
+ 0.7850000262260437
2509
+ ]
2510
+ ],
2511
+ "mean": [
2512
+ [
2513
+ 0.1631701812148094
2514
+ ],
2515
+ [
2516
+ 0.16340860139046395
2517
+ ],
2518
+ [
2519
+ 0.163599078144346
2520
+ ],
2521
+ [
2522
+ 0.16374265455773898
2523
+ ],
2524
+ [
2525
+ 0.16386025718280245
2526
+ ],
2527
+ [
2528
+ 0.16395524144172668
2529
+ ],
2530
+ [
2531
+ 0.16401655014072147
2532
+ ],
2533
+ [
2534
+ 0.16403584661228315
2535
+ ],
2536
+ [
2537
+ 0.1640438213944435
2538
+ ],
2539
+ [
2540
+ 0.16405194518821578
2541
+ ],
2542
+ [
2543
+ 0.16405976084726195
2544
+ ],
2545
+ [
2546
+ 0.16406803684575216
2547
+ ],
2548
+ [
2549
+ 0.1640754262251513
2550
+ ],
2551
+ [
2552
+ 0.16408126056194303
2553
+ ],
2554
+ [
2555
+ 0.16408736471618923
2556
+ ],
2557
+ [
2558
+ 0.1640930042735168
2559
+ ]
2560
+ ],
2561
+ "std": [
2562
+ [
2563
+ 0.13736662270528321
2564
+ ],
2565
+ [
2566
+ 0.13834777165828777
2567
+ ],
2568
+ [
2569
+ 0.13981882080892957
2570
+ ],
2571
+ [
2572
+ 0.14149024537117444
2573
+ ],
2574
+ [
2575
+ 0.14333851249154972
2576
+ ],
2577
+ [
2578
+ 0.1453526886854281
2579
+ ],
2580
+ [
2581
+ 0.1475408811368055
2582
+ ],
2583
+ [
2584
+ 0.14993908186869406
2585
+ ],
2586
+ [
2587
+ 0.1525529866682892
2588
+ ],
2589
+ [
2590
+ 0.15536077427553033
2591
+ ],
2592
+ [
2593
+ 0.15838433740439978
2594
+ ],
2595
+ [
2596
+ 0.16161314095690682
2597
+ ],
2598
+ [
2599
+ 0.16498990430042565
2600
+ ],
2601
+ [
2602
+ 0.16847008698299124
2603
+ ],
2604
+ [
2605
+ 0.17204189893988964
2606
+ ],
2607
+ [
2608
+ 0.1757015048919825
2609
+ ]
2610
+ ],
2611
+ "q01": [
2612
+ [
2613
+ -0.10215594172477724
2614
+ ],
2615
+ [
2616
+ -0.10665535449981689
2617
+ ],
2618
+ [
2619
+ -0.11448886036872864
2620
+ ],
2621
+ [
2622
+ -0.12325451612472535
2623
+ ],
2624
+ [
2625
+ -0.13249812126159669
2626
+ ],
2627
+ [
2628
+ -0.2987642666697502
2629
+ ],
2630
+ [
2631
+ -0.3335674974322319
2632
+ ],
2633
+ [
2634
+ -0.5808749198913574
2635
+ ],
2636
+ [
2637
+ -0.5841907262802124
2638
+ ],
2639
+ [
2640
+ -0.5850951075553894
2641
+ ],
2642
+ [
2643
+ -0.5865017771720886
2644
+ ],
2645
+ [
2646
+ -0.5913248062133789
2647
+ ],
2648
+ [
2649
+ -0.593334436416626
2650
+ ],
2651
+ [
2652
+ -0.5952013313770295
2653
+ ],
2654
+ [
2655
+ -0.5959469079971313
2656
+ ],
2657
+ [
2658
+ -0.5967507362365723
2659
+ ]
2660
+ ],
2661
+ "q99": [
2662
+ [
2663
+ 0.5895255506038666
2664
+ ],
2665
+ [
2666
+ 0.5895255506038666
2667
+ ],
2668
+ [
2669
+ 0.6189164221286774
2670
+ ],
2671
+ [
2672
+ 0.70672607421875
2673
+ ],
2674
+ [
2675
+ 0.7850000262260437
2676
+ ],
2677
+ [
2678
+ 0.7850000262260437
2679
+ ],
2680
+ [
2681
+ 0.7850000262260437
2682
+ ],
2683
+ [
2684
+ 0.7850000262260437
2685
+ ],
2686
+ [
2687
+ 0.7850000262260437
2688
+ ],
2689
+ [
2690
+ 0.7850000262260437
2691
+ ],
2692
+ [
2693
+ 0.7850000262260437
2694
+ ],
2695
+ [
2696
+ 0.7850000262260437
2697
+ ],
2698
+ [
2699
+ 0.7850000262260437
2700
+ ],
2701
+ [
2702
+ 0.7850000262260437
2703
+ ],
2704
+ [
2705
+ 0.7850000262260437
2706
+ ],
2707
+ [
2708
+ 0.7850000262260437
2709
+ ]
2710
+ ]
2711
+ },
2712
+ "waist_position": {
2713
+ "min": [
2714
+ [
2715
+ -0.065700002014637
2716
+ ],
2717
+ [
2718
+ -0.3603876233100891
2719
+ ],
2720
+ [
2721
+ -0.4400332272052765
2722
+ ],
2723
+ [
2724
+ -0.5189626216888428
2725
+ ],
2726
+ [
2727
+ -0.5718566179275513
2728
+ ],
2729
+ [
2730
+ -0.6794576644897461
2731
+ ],
2732
+ [
2733
+ -0.757044792175293
2734
+ ],
2735
+ [
2736
+ -0.8355914354324341
2737
+ ],
2738
+ [
2739
+ -0.9049866199493408
2740
+ ],
2741
+ [
2742
+ -0.9805452823638916
2743
+ ],
2744
+ [
2745
+ -1.0542603731155396
2746
+ ],
2747
+ [
2748
+ -1.1243705749511719
2749
+ ],
2750
+ [
2751
+ -1.192498803138733
2752
+ ],
2753
+ [
2754
+ -1.2453927993774414
2755
+ ],
2756
+ [
2757
+ -1.312233328819275
2758
+ ],
2759
+ [
2760
+ -1.3651273250579834
2761
+ ]
2762
+ ],
2763
+ "max": [
2764
+ [
2765
+ 0.05869999900460243
2766
+ ],
2767
+ [
2768
+ 0.8140988349914551
2769
+ ],
2770
+ [
2771
+ 0.8866249322891235
2772
+ ],
2773
+ [
2774
+ 0.959839940071106
2775
+ ],
2776
+ [
2777
+ 1.033062219619751
2778
+ ],
2779
+ [
2780
+ 1.106533408164978
2781
+ ],
2782
+ [
2783
+ 1.1801117658615112
2784
+ ],
2785
+ [
2786
+ 1.2536256313323975
2787
+ ],
2788
+ [
2789
+ 1.326912760734558
2790
+ ],
2791
+ [
2792
+ 1.4414337873458862
2793
+ ],
2794
+ [
2795
+ 1.5480573177337646
2796
+ ],
2797
+ [
2798
+ 1.6641912460327148
2799
+ ],
2800
+ [
2801
+ 1.7708147764205933
2802
+ ],
2803
+ [
2804
+ 1.8578306436538696
2805
+ ],
2806
+ [
2807
+ 1.9310734272003174
2808
+ ],
2809
+ [
2810
+ 2.005711317062378
2811
+ ]
2812
+ ],
2813
+ "mean": [
2814
+ [
2815
+ 3.146336959097035e-06
2816
+ ],
2817
+ [
2818
+ -3.082647843268203e-05
2819
+ ],
2820
+ [
2821
+ -5.688105861003021e-05
2822
+ ],
2823
+ [
2824
+ -7.646291227812541e-05
2825
+ ],
2826
+ [
2827
+ -9.091249146792838e-05
2828
+ ],
2829
+ [
2830
+ -0.00010134417448069499
2831
+ ],
2832
+ [
2833
+ -0.00010880246998975654
2834
+ ],
2835
+ [
2836
+ -0.00011401004433458134
2837
+ ],
2838
+ [
2839
+ -0.00011759128575558211
2840
+ ],
2841
+ [
2842
+ -0.00011998244271183013
2843
+ ],
2844
+ [
2845
+ -0.00012154419460452818
2846
+ ],
2847
+ [
2848
+ -0.0001225153796983339
2849
+ ],
2850
+ [
2851
+ -0.00012307321044576923
2852
+ ],
2853
+ [
2854
+ -0.00012333648676369054
2855
+ ],
2856
+ [
2857
+ -0.00012341385949683162
2858
+ ],
2859
+ [
2860
+ -0.00012336723854287714
2861
+ ]
2862
+ ],
2863
+ "std": [
2864
+ [
2865
+ 0.00046861122597108875
2866
+ ],
2867
+ [
2868
+ 0.0072360490431555465
2869
+ ],
2870
+ [
2871
+ 0.014281742642191371
2872
+ ],
2873
+ [
2874
+ 0.021322461589056728
2875
+ ],
2876
+ [
2877
+ 0.02833517452667905
2878
+ ],
2879
+ [
2880
+ 0.035313330835979685
2881
+ ],
2882
+ [
2883
+ 0.04224667935114074
2884
+ ],
2885
+ [
2886
+ 0.04911945567914888
2887
+ ],
2888
+ [
2889
+ 0.05591683403707373
2890
+ ],
2891
+ [
2892
+ 0.06263391572023526
2893
+ ],
2894
+ [
2895
+ 0.06926940380653576
2896
+ ],
2897
+ [
2898
+ 0.07582351108506517
2899
+ ],
2900
+ [
2901
+ 0.08228930982008696
2902
+ ],
2903
+ [
2904
+ 0.08866225948656865
2905
+ ],
2906
+ [
2907
+ 0.09493942592587291
2908
+ ],
2909
+ [
2910
+ 0.10112085205391733
2911
+ ]
2912
+ ],
2913
+ "q01": [
2914
+ [
2915
+ -0.00139999995008111
2916
+ ],
2917
+ [
2918
+ -0.02558524489402771
2919
+ ],
2920
+ [
2921
+ -0.049102463126182556
2922
+ ],
2923
+ [
2924
+ -0.07012097358703613
2925
+ ],
2926
+ [
2927
+ -0.08962570667266846
2928
+ ],
2929
+ [
2930
+ -0.11052424430847169
2931
+ ],
2932
+ [
2933
+ -0.13281233072280885
2934
+ ],
2935
+ [
2936
+ -0.15479477286338805
2937
+ ],
2938
+ [
2939
+ -0.17531680405139924
2940
+ ],
2941
+ [
2942
+ -0.19567285537719725
2943
+ ],
2944
+ [
2945
+ -0.2169906210899353
2946
+ ],
2947
+ [
2948
+ -0.23913733005523682
2949
+ ],
2950
+ [
2951
+ -0.26084982872009277
2952
+ ],
2953
+ [
2954
+ -0.2815950727462769
2955
+ ],
2956
+ [
2957
+ -0.3018583059310913
2958
+ ],
2959
+ [
2960
+ -0.3231661248207092
2961
+ ]
2962
+ ],
2963
+ "q99": [
2964
+ [
2965
+ 0.0015571064758114588
2966
+ ],
2967
+ [
2968
+ 0.07867759823799127
2969
+ ],
2970
+ [
2971
+ 0.15707614183425891
2972
+ ],
2973
+ [
2974
+ 0.23512800753116606
2975
+ ],
2976
+ [
2977
+ 0.3131484383344647
2978
+ ],
2979
+ [
2980
+ 0.3904795813560484
2981
+ ],
2982
+ [
2983
+ 0.4675789624452588
2984
+ ],
2985
+ [
2986
+ 0.5439016675949097
2987
+ ],
2988
+ [
2989
+ 0.619980194568634
2990
+ ],
2991
+ [
2992
+ 0.6951488375663757
2993
+ ],
2994
+ [
2995
+ 0.7705745851993558
2996
+ ],
2997
+ [
2998
+ 0.8445686876773831
2999
+ ],
3000
+ [
3001
+ 0.9169445765018462
3002
+ ],
3003
+ [
3004
+ 0.9891243803501121
3005
+ ],
3006
+ [
3007
+ 1.059611654281616
3008
+ ],
3009
+ [
3010
+ 1.1291805028915403
3011
+ ]
3012
+ ]
3013
+ }
3014
+ }
3015
+ }
3016
+ }
checkpoints/manipulation_gr00t17/experiment_cfg/final_model_config.json ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "model_type": "Gr00tN1d7",
3
+ "model_dtype": "bfloat16",
4
+ "model_name": "models/nvidia/Cosmos-Reason2-2B",
5
+ "backbone_model_type": "qwen",
6
+ "model_revision": null,
7
+ "tune_top_llm_layers": 0,
8
+ "backbone_embedding_dim": 2048,
9
+ "tune_llm": false,
10
+ "tune_visual": false,
11
+ "select_layer": 16,
12
+ "reproject_vision": false,
13
+ "use_flash_attention": true,
14
+ "load_bf16": false,
15
+ "backbone_trainable_params_fp32": true,
16
+ "extra_augmentation_config": null,
17
+ "apply_sincos_state_encoding": false,
18
+ "use_percentiles": true,
19
+ "use_relative_action": false,
20
+ "max_state_dim": 132,
21
+ "max_action_dim": 132,
22
+ "action_horizon": 40,
23
+ "hidden_size": 1024,
24
+ "input_embedding_dim": 1536,
25
+ "state_history_length": 1,
26
+ "add_pos_embed": true,
27
+ "attn_dropout": 0.2,
28
+ "use_vlln": true,
29
+ "max_seq_len": 1024,
30
+ "use_alternate_vl_dit": true,
31
+ "attend_text_every_n_blocks": 2,
32
+ "diffusion_model_cfg": {
33
+ "attention_head_dim": 48,
34
+ "dropout": 0.2,
35
+ "final_dropout": true,
36
+ "interleave_self_attention": true,
37
+ "norm_type": "ada_norm",
38
+ "num_attention_heads": 32,
39
+ "num_layers": 32,
40
+ "output_dim": 1024,
41
+ "positional_embeddings": null
42
+ },
43
+ "num_inference_timesteps": 4,
44
+ "noise_beta_alpha": 1.5,
45
+ "noise_beta_beta": 1.0,
46
+ "noise_s": 0.999,
47
+ "num_timestep_buckets": 1000,
48
+ "tune_projector": true,
49
+ "tune_diffusion_model": true,
50
+ "tune_vlln": true,
51
+ "state_dropout_prob": 0.2,
52
+ "exclude_state": false,
53
+ "use_mean_std": false,
54
+ "max_num_embodiments": 32
55
+ }
checkpoints/manipulation_gr00t17/experiment_cfg/final_processor_config.json ADDED
The diff for this file is too large to render. See raw diff
 
checkpoints/manipulation_gr00t17/model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9648713ca65364c5a7f3149c67f3bbc96b051e833066c4a6f9955f9bf120706
3
+ size 4990519232
checkpoints/manipulation_gr00t17/model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b145bf0816365d9a386dcd8bed46dad41b22f4c710e0a87a57596093c05a55c
3
+ size 1919980184
checkpoints/manipulation_gr00t17/model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
checkpoints/manipulation_gr00t17/processor_config.json ADDED
@@ -0,0 +1,1148 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "processor_class": "Gr00tN1d7Processor",
3
+ "processor_kwargs": {
4
+ "modality_configs": {
5
+ "real_g1_relative_eef_relative_joints": {
6
+ "video": {
7
+ "delta_indices": [
8
+ -20,
9
+ 0
10
+ ],
11
+ "modality_keys": [
12
+ "ego_view"
13
+ ],
14
+ "sin_cos_embedding_keys": null,
15
+ "mean_std_embedding_keys": null,
16
+ "action_configs": null
17
+ },
18
+ "state": {
19
+ "delta_indices": [
20
+ 0
21
+ ],
22
+ "modality_keys": [
23
+ "left_wrist_eef_9d",
24
+ "right_wrist_eef_9d",
25
+ "left_hand",
26
+ "right_hand",
27
+ "left_arm",
28
+ "right_arm",
29
+ "waist"
30
+ ],
31
+ "sin_cos_embedding_keys": null,
32
+ "mean_std_embedding_keys": null,
33
+ "action_configs": null
34
+ },
35
+ "action": {
36
+ "delta_indices": [
37
+ 0,
38
+ 1,
39
+ 2,
40
+ 3,
41
+ 4,
42
+ 5,
43
+ 6,
44
+ 7,
45
+ 8,
46
+ 9,
47
+ 10,
48
+ 11,
49
+ 12,
50
+ 13,
51
+ 14,
52
+ 15,
53
+ 16,
54
+ 17,
55
+ 18,
56
+ 19,
57
+ 20,
58
+ 21,
59
+ 22,
60
+ 23,
61
+ 24,
62
+ 25,
63
+ 26,
64
+ 27,
65
+ 28,
66
+ 29,
67
+ 30,
68
+ 31,
69
+ 32,
70
+ 33,
71
+ 34,
72
+ 35,
73
+ 36,
74
+ 37,
75
+ 38,
76
+ 39
77
+ ],
78
+ "modality_keys": [
79
+ "left_wrist_eef_9d",
80
+ "right_wrist_eef_9d",
81
+ "left_hand",
82
+ "right_hand",
83
+ "left_arm",
84
+ "right_arm",
85
+ "waist",
86
+ "base_height_command",
87
+ "navigate_command"
88
+ ],
89
+ "sin_cos_embedding_keys": null,
90
+ "mean_std_embedding_keys": null,
91
+ "action_configs": [
92
+ {
93
+ "rep": "RELATIVE",
94
+ "type": "EEF",
95
+ "format": "XYZ_ROT6D",
96
+ "state_key": "left_wrist_eef_9d"
97
+ },
98
+ {
99
+ "rep": "RELATIVE",
100
+ "type": "EEF",
101
+ "format": "XYZ_ROT6D",
102
+ "state_key": "right_wrist_eef_9d"
103
+ },
104
+ {
105
+ "rep": "ABSOLUTE",
106
+ "type": "NON_EEF",
107
+ "format": "DEFAULT",
108
+ "state_key": "left_hand"
109
+ },
110
+ {
111
+ "rep": "ABSOLUTE",
112
+ "type": "NON_EEF",
113
+ "format": "DEFAULT",
114
+ "state_key": "right_hand"
115
+ },
116
+ {
117
+ "rep": "RELATIVE",
118
+ "type": "NON_EEF",
119
+ "format": "DEFAULT",
120
+ "state_key": "left_arm"
121
+ },
122
+ {
123
+ "rep": "RELATIVE",
124
+ "type": "NON_EEF",
125
+ "format": "DEFAULT",
126
+ "state_key": "right_arm"
127
+ },
128
+ {
129
+ "rep": "ABSOLUTE",
130
+ "type": "NON_EEF",
131
+ "format": "DEFAULT",
132
+ "state_key": "waist"
133
+ },
134
+ {
135
+ "rep": "ABSOLUTE",
136
+ "type": "NON_EEF",
137
+ "format": "DEFAULT",
138
+ "state_key": "base_height_command"
139
+ },
140
+ {
141
+ "rep": "ABSOLUTE",
142
+ "type": "NON_EEF",
143
+ "format": "DEFAULT",
144
+ "state_key": "navigate_command"
145
+ }
146
+ ]
147
+ },
148
+ "language": {
149
+ "delta_indices": [
150
+ 0
151
+ ],
152
+ "modality_keys": [
153
+ "annotation.human.task_description"
154
+ ],
155
+ "sin_cos_embedding_keys": null,
156
+ "mean_std_embedding_keys": null,
157
+ "action_configs": null
158
+ }
159
+ },
160
+ "real_r1_pro_sharpa_relative_eef_mecka": {
161
+ "video": {
162
+ "delta_indices": [
163
+ -30,
164
+ 0
165
+ ],
166
+ "modality_keys": [
167
+ "ego_view_cropratio_res320x240_freq30"
168
+ ],
169
+ "sin_cos_embedding_keys": null,
170
+ "mean_std_embedding_keys": null,
171
+ "action_configs": null
172
+ },
173
+ "state": {
174
+ "delta_indices": [
175
+ 0
176
+ ],
177
+ "modality_keys": [
178
+ "left_wrist_eef",
179
+ "right_wrist_eef",
180
+ "left_hand_joints",
181
+ "right_hand_joints"
182
+ ],
183
+ "sin_cos_embedding_keys": null,
184
+ "mean_std_embedding_keys": null,
185
+ "action_configs": null
186
+ },
187
+ "action": {
188
+ "delta_indices": [
189
+ 0,
190
+ 1,
191
+ 2,
192
+ 3,
193
+ 4,
194
+ 5,
195
+ 6,
196
+ 7,
197
+ 8,
198
+ 9,
199
+ 10,
200
+ 11,
201
+ 12,
202
+ 13,
203
+ 14,
204
+ 15,
205
+ 16,
206
+ 17,
207
+ 18,
208
+ 19,
209
+ 20,
210
+ 21,
211
+ 22,
212
+ 23,
213
+ 24,
214
+ 25,
215
+ 26,
216
+ 27,
217
+ 28,
218
+ 29,
219
+ 30,
220
+ 31,
221
+ 32,
222
+ 33,
223
+ 34,
224
+ 35,
225
+ 36,
226
+ 37,
227
+ 38,
228
+ 39
229
+ ],
230
+ "modality_keys": [
231
+ "left_wrist_eef",
232
+ "right_wrist_eef",
233
+ "left_hand_joints",
234
+ "right_hand_joints"
235
+ ],
236
+ "sin_cos_embedding_keys": null,
237
+ "mean_std_embedding_keys": null,
238
+ "action_configs": [
239
+ {
240
+ "rep": "RELATIVE",
241
+ "type": "EEF",
242
+ "format": "XYZ_ROT6D",
243
+ "state_key": "left_wrist_eef"
244
+ },
245
+ {
246
+ "rep": "RELATIVE",
247
+ "type": "EEF",
248
+ "format": "XYZ_ROT6D",
249
+ "state_key": "right_wrist_eef"
250
+ },
251
+ {
252
+ "rep": "ABSOLUTE",
253
+ "type": "NON_EEF",
254
+ "format": "DEFAULT",
255
+ "state_key": "left_hand_joints"
256
+ },
257
+ {
258
+ "rep": "ABSOLUTE",
259
+ "type": "NON_EEF",
260
+ "format": "DEFAULT",
261
+ "state_key": "right_hand_joints"
262
+ }
263
+ ]
264
+ },
265
+ "language": {
266
+ "delta_indices": [
267
+ 0
268
+ ],
269
+ "modality_keys": [
270
+ "annotation.human.coarse_action"
271
+ ],
272
+ "sin_cos_embedding_keys": null,
273
+ "mean_std_embedding_keys": null,
274
+ "action_configs": null
275
+ }
276
+ },
277
+ "real_r1_pro_sharpa_relative_eef_human": {
278
+ "video": {
279
+ "delta_indices": [
280
+ -20,
281
+ 0
282
+ ],
283
+ "modality_keys": [
284
+ "ego_view_res320x240_freq20",
285
+ "left_wrist_view_res320x240_freq20",
286
+ "right_wrist_view_res320x240_freq20"
287
+ ],
288
+ "sin_cos_embedding_keys": null,
289
+ "mean_std_embedding_keys": null,
290
+ "action_configs": null
291
+ },
292
+ "state": {
293
+ "delta_indices": [
294
+ 0
295
+ ],
296
+ "modality_keys": [
297
+ "left_wrist_eef",
298
+ "right_wrist_eef",
299
+ "left_hand_joints",
300
+ "right_hand_joints"
301
+ ],
302
+ "sin_cos_embedding_keys": null,
303
+ "mean_std_embedding_keys": null,
304
+ "action_configs": null
305
+ },
306
+ "action": {
307
+ "delta_indices": [
308
+ 0,
309
+ 1,
310
+ 2,
311
+ 3,
312
+ 4,
313
+ 5,
314
+ 6,
315
+ 7,
316
+ 8,
317
+ 9,
318
+ 10,
319
+ 11,
320
+ 12,
321
+ 13,
322
+ 14,
323
+ 15,
324
+ 16,
325
+ 17,
326
+ 18,
327
+ 19,
328
+ 20,
329
+ 21,
330
+ 22,
331
+ 23,
332
+ 24,
333
+ 25,
334
+ 26,
335
+ 27,
336
+ 28,
337
+ 29,
338
+ 30,
339
+ 31,
340
+ 32,
341
+ 33,
342
+ 34,
343
+ 35,
344
+ 36,
345
+ 37,
346
+ 38,
347
+ 39
348
+ ],
349
+ "modality_keys": [
350
+ "left_wrist_eef",
351
+ "right_wrist_eef",
352
+ "left_hand_joints",
353
+ "right_hand_joints"
354
+ ],
355
+ "sin_cos_embedding_keys": null,
356
+ "mean_std_embedding_keys": null,
357
+ "action_configs": [
358
+ {
359
+ "rep": "RELATIVE",
360
+ "type": "EEF",
361
+ "format": "XYZ_ROT6D",
362
+ "state_key": "left_wrist_eef"
363
+ },
364
+ {
365
+ "rep": "RELATIVE",
366
+ "type": "EEF",
367
+ "format": "XYZ_ROT6D",
368
+ "state_key": "right_wrist_eef"
369
+ },
370
+ {
371
+ "rep": "ABSOLUTE",
372
+ "type": "NON_EEF",
373
+ "format": "DEFAULT",
374
+ "state_key": "left_hand_joints"
375
+ },
376
+ {
377
+ "rep": "ABSOLUTE",
378
+ "type": "NON_EEF",
379
+ "format": "DEFAULT",
380
+ "state_key": "right_hand_joints"
381
+ }
382
+ ]
383
+ },
384
+ "language": {
385
+ "delta_indices": [
386
+ 0
387
+ ],
388
+ "modality_keys": [
389
+ "annotation.human.coarse_action"
390
+ ],
391
+ "sin_cos_embedding_keys": null,
392
+ "mean_std_embedding_keys": null,
393
+ "action_configs": null
394
+ }
395
+ },
396
+ "real_r1_pro_sharpa_relative_eef": {
397
+ "video": {
398
+ "delta_indices": [
399
+ -20,
400
+ 0
401
+ ],
402
+ "modality_keys": [
403
+ "ego_view_res320x240_freq20",
404
+ "left_wrist_view_res320x240_freq20",
405
+ "right_wrist_view_res320x240_freq20"
406
+ ],
407
+ "sin_cos_embedding_keys": null,
408
+ "mean_std_embedding_keys": null,
409
+ "action_configs": null
410
+ },
411
+ "state": {
412
+ "delta_indices": [
413
+ 0
414
+ ],
415
+ "modality_keys": [
416
+ "left_wrist_eef",
417
+ "right_wrist_eef",
418
+ "left_hand_joints",
419
+ "right_hand_joints"
420
+ ],
421
+ "sin_cos_embedding_keys": null,
422
+ "mean_std_embedding_keys": null,
423
+ "action_configs": null
424
+ },
425
+ "action": {
426
+ "delta_indices": [
427
+ 0,
428
+ 1,
429
+ 2,
430
+ 3,
431
+ 4,
432
+ 5,
433
+ 6,
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11,
439
+ 12,
440
+ 13,
441
+ 14,
442
+ 15,
443
+ 16,
444
+ 17,
445
+ 18,
446
+ 19,
447
+ 20,
448
+ 21,
449
+ 22,
450
+ 23,
451
+ 24,
452
+ 25,
453
+ 26,
454
+ 27,
455
+ 28,
456
+ 29,
457
+ 30,
458
+ 31,
459
+ 32,
460
+ 33,
461
+ 34,
462
+ 35,
463
+ 36,
464
+ 37,
465
+ 38,
466
+ 39
467
+ ],
468
+ "modality_keys": [
469
+ "left_wrist_eef",
470
+ "right_wrist_eef",
471
+ "left_hand_joints",
472
+ "right_hand_joints"
473
+ ],
474
+ "sin_cos_embedding_keys": null,
475
+ "mean_std_embedding_keys": null,
476
+ "action_configs": [
477
+ {
478
+ "rep": "RELATIVE",
479
+ "type": "EEF",
480
+ "format": "XYZ_ROT6D",
481
+ "state_key": "left_wrist_eef"
482
+ },
483
+ {
484
+ "rep": "RELATIVE",
485
+ "type": "EEF",
486
+ "format": "XYZ_ROT6D",
487
+ "state_key": "right_wrist_eef"
488
+ },
489
+ {
490
+ "rep": "ABSOLUTE",
491
+ "type": "NON_EEF",
492
+ "format": "DEFAULT",
493
+ "state_key": "left_hand_joints"
494
+ },
495
+ {
496
+ "rep": "ABSOLUTE",
497
+ "type": "NON_EEF",
498
+ "format": "DEFAULT",
499
+ "state_key": "right_hand_joints"
500
+ }
501
+ ]
502
+ },
503
+ "language": {
504
+ "delta_indices": [
505
+ 0
506
+ ],
507
+ "modality_keys": [
508
+ "annotation.human.coarse_action"
509
+ ],
510
+ "sin_cos_embedding_keys": null,
511
+ "mean_std_embedding_keys": null,
512
+ "action_configs": null
513
+ }
514
+ },
515
+ "xdof_relative_eef_relative_joint": {
516
+ "video": {
517
+ "delta_indices": [
518
+ -30,
519
+ 0
520
+ ],
521
+ "modality_keys": [
522
+ "top_camera-images-rgb_320_240",
523
+ "left_camera-images-rgb_320_240",
524
+ "right_camera-images-rgb_320_240"
525
+ ],
526
+ "sin_cos_embedding_keys": null,
527
+ "mean_std_embedding_keys": null,
528
+ "action_configs": null
529
+ },
530
+ "state": {
531
+ "delta_indices": [
532
+ 0
533
+ ],
534
+ "modality_keys": [
535
+ "left_wrist_eef",
536
+ "right_wrist_eef",
537
+ "left_gripper_pos",
538
+ "right_gripper_pos",
539
+ "left_joint_pos",
540
+ "right_joint_pos"
541
+ ],
542
+ "sin_cos_embedding_keys": null,
543
+ "mean_std_embedding_keys": null,
544
+ "action_configs": null
545
+ },
546
+ "action": {
547
+ "delta_indices": [
548
+ 0,
549
+ 1,
550
+ 2,
551
+ 3,
552
+ 4,
553
+ 5,
554
+ 6,
555
+ 7,
556
+ 8,
557
+ 9,
558
+ 10,
559
+ 11,
560
+ 12,
561
+ 13,
562
+ 14,
563
+ 15,
564
+ 16,
565
+ 17,
566
+ 18,
567
+ 19,
568
+ 20,
569
+ 21,
570
+ 22,
571
+ 23,
572
+ 24,
573
+ 25,
574
+ 26,
575
+ 27,
576
+ 28,
577
+ 29,
578
+ 30,
579
+ 31,
580
+ 32,
581
+ 33,
582
+ 34,
583
+ 35,
584
+ 36,
585
+ 37,
586
+ 38,
587
+ 39
588
+ ],
589
+ "modality_keys": [
590
+ "left_wrist_eef",
591
+ "right_wrist_eef",
592
+ "left_gripper_pos",
593
+ "right_gripper_pos",
594
+ "left_joint_pos",
595
+ "right_joint_pos"
596
+ ],
597
+ "sin_cos_embedding_keys": null,
598
+ "mean_std_embedding_keys": null,
599
+ "action_configs": [
600
+ {
601
+ "rep": "RELATIVE",
602
+ "type": "EEF",
603
+ "format": "XYZ_ROT6D",
604
+ "state_key": "left_wrist_eef"
605
+ },
606
+ {
607
+ "rep": "RELATIVE",
608
+ "type": "EEF",
609
+ "format": "XYZ_ROT6D",
610
+ "state_key": "right_wrist_eef"
611
+ },
612
+ {
613
+ "rep": "ABSOLUTE",
614
+ "type": "NON_EEF",
615
+ "format": "DEFAULT",
616
+ "state_key": "left_gripper_pos"
617
+ },
618
+ {
619
+ "rep": "ABSOLUTE",
620
+ "type": "NON_EEF",
621
+ "format": "DEFAULT",
622
+ "state_key": "right_gripper_pos"
623
+ },
624
+ {
625
+ "rep": "RELATIVE",
626
+ "type": "NON_EEF",
627
+ "format": "DEFAULT",
628
+ "state_key": "left_joint_pos"
629
+ },
630
+ {
631
+ "rep": "RELATIVE",
632
+ "type": "NON_EEF",
633
+ "format": "DEFAULT",
634
+ "state_key": "right_joint_pos"
635
+ }
636
+ ]
637
+ },
638
+ "language": {
639
+ "delta_indices": [
640
+ 0
641
+ ],
642
+ "modality_keys": [
643
+ "annotation.task"
644
+ ],
645
+ "sin_cos_embedding_keys": null,
646
+ "mean_std_embedding_keys": null,
647
+ "action_configs": null
648
+ }
649
+ },
650
+ "real_r1_pro_sharpa_relative_eef_maxinsights": {
651
+ "video": {
652
+ "delta_indices": [
653
+ -30,
654
+ 0
655
+ ],
656
+ "modality_keys": [
657
+ "ego_view_cropratio_res320x240_freq30"
658
+ ],
659
+ "sin_cos_embedding_keys": null,
660
+ "mean_std_embedding_keys": null,
661
+ "action_configs": null
662
+ },
663
+ "state": {
664
+ "delta_indices": [
665
+ 0
666
+ ],
667
+ "modality_keys": [
668
+ "left_wrist_eef",
669
+ "right_wrist_eef",
670
+ "left_hand_joints",
671
+ "right_hand_joints"
672
+ ],
673
+ "sin_cos_embedding_keys": null,
674
+ "mean_std_embedding_keys": null,
675
+ "action_configs": null
676
+ },
677
+ "action": {
678
+ "delta_indices": [
679
+ 0,
680
+ 1,
681
+ 2,
682
+ 3,
683
+ 4,
684
+ 5,
685
+ 6,
686
+ 7,
687
+ 8,
688
+ 9,
689
+ 10,
690
+ 11,
691
+ 12,
692
+ 13,
693
+ 14,
694
+ 15,
695
+ 16,
696
+ 17,
697
+ 18,
698
+ 19,
699
+ 20,
700
+ 21,
701
+ 22,
702
+ 23,
703
+ 24,
704
+ 25,
705
+ 26,
706
+ 27,
707
+ 28,
708
+ 29,
709
+ 30,
710
+ 31,
711
+ 32,
712
+ 33,
713
+ 34,
714
+ 35,
715
+ 36,
716
+ 37,
717
+ 38,
718
+ 39
719
+ ],
720
+ "modality_keys": [
721
+ "left_wrist_eef",
722
+ "right_wrist_eef",
723
+ "left_hand_joints",
724
+ "right_hand_joints"
725
+ ],
726
+ "sin_cos_embedding_keys": null,
727
+ "mean_std_embedding_keys": null,
728
+ "action_configs": [
729
+ {
730
+ "rep": "RELATIVE",
731
+ "type": "EEF",
732
+ "format": "XYZ_ROT6D",
733
+ "state_key": "left_wrist_eef"
734
+ },
735
+ {
736
+ "rep": "RELATIVE",
737
+ "type": "EEF",
738
+ "format": "XYZ_ROT6D",
739
+ "state_key": "right_wrist_eef"
740
+ },
741
+ {
742
+ "rep": "ABSOLUTE",
743
+ "type": "NON_EEF",
744
+ "format": "DEFAULT",
745
+ "state_key": "left_hand_joints"
746
+ },
747
+ {
748
+ "rep": "ABSOLUTE",
749
+ "type": "NON_EEF",
750
+ "format": "DEFAULT",
751
+ "state_key": "right_hand_joints"
752
+ }
753
+ ]
754
+ },
755
+ "language": {
756
+ "delta_indices": [
757
+ 0
758
+ ],
759
+ "modality_keys": [
760
+ "annotation.human.coarse_action"
761
+ ],
762
+ "sin_cos_embedding_keys": null,
763
+ "mean_std_embedding_keys": null,
764
+ "action_configs": null
765
+ }
766
+ },
767
+ "xdof_relative_eef_relative_joint_subtask": {
768
+ "video": {
769
+ "delta_indices": [
770
+ -30,
771
+ 0
772
+ ],
773
+ "modality_keys": [
774
+ "top_camera-images-rgb_320_240",
775
+ "left_camera-images-rgb_320_240",
776
+ "right_camera-images-rgb_320_240"
777
+ ],
778
+ "sin_cos_embedding_keys": null,
779
+ "mean_std_embedding_keys": null,
780
+ "action_configs": null
781
+ },
782
+ "state": {
783
+ "delta_indices": [
784
+ 0
785
+ ],
786
+ "modality_keys": [
787
+ "left_wrist_eef",
788
+ "right_wrist_eef",
789
+ "left_gripper_pos",
790
+ "right_gripper_pos",
791
+ "left_joint_pos",
792
+ "right_joint_pos"
793
+ ],
794
+ "sin_cos_embedding_keys": null,
795
+ "mean_std_embedding_keys": null,
796
+ "action_configs": null
797
+ },
798
+ "action": {
799
+ "delta_indices": [
800
+ 0,
801
+ 1,
802
+ 2,
803
+ 3,
804
+ 4,
805
+ 5,
806
+ 6,
807
+ 7,
808
+ 8,
809
+ 9,
810
+ 10,
811
+ 11,
812
+ 12,
813
+ 13,
814
+ 14,
815
+ 15,
816
+ 16,
817
+ 17,
818
+ 18,
819
+ 19,
820
+ 20,
821
+ 21,
822
+ 22,
823
+ 23,
824
+ 24,
825
+ 25,
826
+ 26,
827
+ 27,
828
+ 28,
829
+ 29,
830
+ 30,
831
+ 31,
832
+ 32,
833
+ 33,
834
+ 34,
835
+ 35,
836
+ 36,
837
+ 37,
838
+ 38,
839
+ 39
840
+ ],
841
+ "modality_keys": [
842
+ "left_wrist_eef",
843
+ "right_wrist_eef",
844
+ "left_gripper_pos",
845
+ "right_gripper_pos",
846
+ "left_joint_pos",
847
+ "right_joint_pos"
848
+ ],
849
+ "sin_cos_embedding_keys": null,
850
+ "mean_std_embedding_keys": null,
851
+ "action_configs": [
852
+ {
853
+ "rep": "RELATIVE",
854
+ "type": "EEF",
855
+ "format": "XYZ_ROT6D",
856
+ "state_key": "left_wrist_eef"
857
+ },
858
+ {
859
+ "rep": "RELATIVE",
860
+ "type": "EEF",
861
+ "format": "XYZ_ROT6D",
862
+ "state_key": "right_wrist_eef"
863
+ },
864
+ {
865
+ "rep": "ABSOLUTE",
866
+ "type": "NON_EEF",
867
+ "format": "DEFAULT",
868
+ "state_key": "left_gripper_pos"
869
+ },
870
+ {
871
+ "rep": "ABSOLUTE",
872
+ "type": "NON_EEF",
873
+ "format": "DEFAULT",
874
+ "state_key": "right_gripper_pos"
875
+ },
876
+ {
877
+ "rep": "RELATIVE",
878
+ "type": "NON_EEF",
879
+ "format": "DEFAULT",
880
+ "state_key": "left_joint_pos"
881
+ },
882
+ {
883
+ "rep": "RELATIVE",
884
+ "type": "NON_EEF",
885
+ "format": "DEFAULT",
886
+ "state_key": "right_joint_pos"
887
+ }
888
+ ]
889
+ },
890
+ "language": {
891
+ "delta_indices": [
892
+ 0
893
+ ],
894
+ "modality_keys": [
895
+ "annotation.sub_task"
896
+ ],
897
+ "sin_cos_embedding_keys": null,
898
+ "mean_std_embedding_keys": null,
899
+ "action_configs": null
900
+ }
901
+ },
902
+ "oxe_droid_relative_eef_relative_joint": {
903
+ "video": {
904
+ "delta_indices": [
905
+ -15,
906
+ 0
907
+ ],
908
+ "modality_keys": [
909
+ "exterior_image_1_left",
910
+ "wrist_image_left"
911
+ ],
912
+ "sin_cos_embedding_keys": null,
913
+ "mean_std_embedding_keys": null,
914
+ "action_configs": null
915
+ },
916
+ "state": {
917
+ "delta_indices": [
918
+ 0
919
+ ],
920
+ "modality_keys": [
921
+ "eef_9d",
922
+ "gripper_position",
923
+ "joint_position"
924
+ ],
925
+ "sin_cos_embedding_keys": null,
926
+ "mean_std_embedding_keys": null,
927
+ "action_configs": null
928
+ },
929
+ "action": {
930
+ "delta_indices": [
931
+ 0,
932
+ 1,
933
+ 2,
934
+ 3,
935
+ 4,
936
+ 5,
937
+ 6,
938
+ 7,
939
+ 8,
940
+ 9,
941
+ 10,
942
+ 11,
943
+ 12,
944
+ 13,
945
+ 14,
946
+ 15,
947
+ 16,
948
+ 17,
949
+ 18,
950
+ 19,
951
+ 20,
952
+ 21,
953
+ 22,
954
+ 23,
955
+ 24,
956
+ 25,
957
+ 26,
958
+ 27,
959
+ 28,
960
+ 29,
961
+ 30,
962
+ 31,
963
+ 32,
964
+ 33,
965
+ 34,
966
+ 35,
967
+ 36,
968
+ 37,
969
+ 38,
970
+ 39
971
+ ],
972
+ "modality_keys": [
973
+ "eef_9d",
974
+ "gripper_position",
975
+ "joint_position"
976
+ ],
977
+ "sin_cos_embedding_keys": null,
978
+ "mean_std_embedding_keys": null,
979
+ "action_configs": [
980
+ {
981
+ "rep": "RELATIVE",
982
+ "type": "EEF",
983
+ "format": "XYZ_ROT6D",
984
+ "state_key": "eef_9d"
985
+ },
986
+ {
987
+ "rep": "ABSOLUTE",
988
+ "type": "NON_EEF",
989
+ "format": "DEFAULT",
990
+ "state_key": "gripper_position"
991
+ },
992
+ {
993
+ "rep": "RELATIVE",
994
+ "type": "NON_EEF",
995
+ "format": "DEFAULT",
996
+ "state_key": "joint_position"
997
+ }
998
+ ]
999
+ },
1000
+ "language": {
1001
+ "delta_indices": [
1002
+ 0
1003
+ ],
1004
+ "modality_keys": [
1005
+ "annotation.language.language_instruction"
1006
+ ],
1007
+ "sin_cos_embedding_keys": null,
1008
+ "mean_std_embedding_keys": null,
1009
+ "action_configs": null
1010
+ }
1011
+ },
1012
+ "new_embodiment": {
1013
+ "video": {
1014
+ "delta_indices": [
1015
+ 0
1016
+ ],
1017
+ "modality_keys": [
1018
+ "top_head",
1019
+ "hand_left",
1020
+ "hand_right"
1021
+ ],
1022
+ "sin_cos_embedding_keys": null,
1023
+ "mean_std_embedding_keys": null,
1024
+ "action_configs": null
1025
+ },
1026
+ "state": {
1027
+ "delta_indices": [
1028
+ 0
1029
+ ],
1030
+ "modality_keys": [
1031
+ "left_arm_joint_position",
1032
+ "right_arm_joint_position",
1033
+ "left_effector_position",
1034
+ "right_effector_position",
1035
+ "waist_position"
1036
+ ],
1037
+ "sin_cos_embedding_keys": null,
1038
+ "mean_std_embedding_keys": null,
1039
+ "action_configs": null
1040
+ },
1041
+ "action": {
1042
+ "delta_indices": [
1043
+ 0,
1044
+ 1,
1045
+ 2,
1046
+ 3,
1047
+ 4,
1048
+ 5,
1049
+ 6,
1050
+ 7,
1051
+ 8,
1052
+ 9,
1053
+ 10,
1054
+ 11,
1055
+ 12,
1056
+ 13,
1057
+ 14,
1058
+ 15
1059
+ ],
1060
+ "modality_keys": [
1061
+ "left_arm_joint_position",
1062
+ "right_arm_joint_position",
1063
+ "left_effector_position",
1064
+ "right_effector_position",
1065
+ "waist_position"
1066
+ ],
1067
+ "sin_cos_embedding_keys": null,
1068
+ "mean_std_embedding_keys": null,
1069
+ "action_configs": [
1070
+ {
1071
+ "rep": "RELATIVE",
1072
+ "type": "NON_EEF",
1073
+ "format": "DEFAULT",
1074
+ "state_key": null
1075
+ },
1076
+ {
1077
+ "rep": "RELATIVE",
1078
+ "type": "NON_EEF",
1079
+ "format": "DEFAULT",
1080
+ "state_key": null
1081
+ },
1082
+ {
1083
+ "rep": "RELATIVE",
1084
+ "type": "NON_EEF",
1085
+ "format": "DEFAULT",
1086
+ "state_key": null
1087
+ },
1088
+ {
1089
+ "rep": "RELATIVE",
1090
+ "type": "NON_EEF",
1091
+ "format": "DEFAULT",
1092
+ "state_key": null
1093
+ },
1094
+ {
1095
+ "rep": "RELATIVE",
1096
+ "type": "NON_EEF",
1097
+ "format": "DEFAULT",
1098
+ "state_key": null
1099
+ }
1100
+ ]
1101
+ },
1102
+ "language": {
1103
+ "delta_indices": [
1104
+ 0
1105
+ ],
1106
+ "modality_keys": [
1107
+ "annotation.language.action_text"
1108
+ ],
1109
+ "sin_cos_embedding_keys": null,
1110
+ "mean_std_embedding_keys": null,
1111
+ "action_configs": null
1112
+ }
1113
+ }
1114
+ },
1115
+ "image_crop_size": [
1116
+ 230,
1117
+ 230
1118
+ ],
1119
+ "image_target_size": [
1120
+ 256,
1121
+ 256
1122
+ ],
1123
+ "use_albumentations": true,
1124
+ "random_rotation_angle": 0,
1125
+ "color_jitter_params": {
1126
+ "brightness": 0.3,
1127
+ "contrast": 0.4,
1128
+ "saturation": 0.5,
1129
+ "hue": 0.08
1130
+ },
1131
+ "shortest_image_edge": 256,
1132
+ "crop_fraction": 0.95,
1133
+ "letter_box_transform": false,
1134
+ "model_name": "models/nvidia/Cosmos-Reason2-2B",
1135
+ "model_type": "qwen",
1136
+ "formalize_language": true,
1137
+ "max_state_dim": 132,
1138
+ "max_action_dim": 132,
1139
+ "max_action_horizon": 40,
1140
+ "use_percentiles": true,
1141
+ "use_mean_std": false,
1142
+ "clip_outliers": true,
1143
+ "apply_sincos_state_encoding": false,
1144
+ "use_relative_action": true,
1145
+ "exclude_state": false,
1146
+ "state_dropout_prob": 0.2
1147
+ }
1148
+ }
checkpoints/manipulation_gr00t17/statistics.json ADDED
The diff for this file is too large to render. See raw diff