docs/sampling_dataset_ctrlworld.md

Create batch input for dreamgen

Dataset: PhysicalAI-Robotics-GR00T-GR1/gr1

Dense

export PYTHONPATH="./models/dreamgen" export CUDA_VISIBLE_DEVICES=0 export NUM_GPUS=1 python -m scripts.prepare_batch_input_json_csv
--dataset_path ./datasets/PhysicalAI-Robotics-GR00T-GR1/gr1
--metadata_path ./datasets/PhysicalAI-Robotics-GR00T-GR1/metadata.csv
--save_path ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/dense
--output_path ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/dense/batch_input.json

source /pfss/mlde/workspaces/mlde_wsp_IAS_SAMMerge/VLA/doanh/video_world/video_gen_physics/models/DreamDojo/.venv/bin/activate export PYTHONPATH="./models/dreamgen" export CUDA_VISIBLE_DEVICES=0 export NUM_GPUS=1 torchrun -m models.dreamgen.examples.video2world_gr00t
--model_size 14B
--gr00t_variant gr1
--batch_input_json ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/dense/batch_input.json
--disable_guardrail
--num_gpus ${NUM_GPUS}

pisa

export PYTHONPATH="./models/dreamgen" export CUDA_VISIBLE_DEVICES=0 export NUM_GPUS=1 python -m scripts.prepare_batch_input_json_csv
--dataset_path ./datasets/PhysicalAI-Robotics-GR00T-GR1/gr1
--metadata_path ./datasets/PhysicalAI-Robotics-GR00T-GR1/metadata.csv
--save_path ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/pisa
--output_path ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/pisa/batch_input.json

torchrun -m models.dreamgen.examples.video2world_gr00t
--model_size 14B
--gr00t_variant gr1
--batch_input_json ./sampling_dataset/PhysicalAI-Robotics-GR00T-GR1/gr1/dense/batch_input.json
--disable_guardrail
--num_gpus ${NUM_GPUS}
--use_pisa
--pisa_density 0.2
--pisa_block_size 64
--pisa_start_layer_idx 2