| { |
| "source_dataset": "stack_3_cups", |
| "source_subset": "perfect", |
| "raw_data_root": "/project/peilab/wam/physical_WM/data/stack_3_cups/perfect", |
| "raw_format": "hdf5", |
| "dataset_loader": "scripts/train_hdf5_aloha.py", |
| "task_prompt_fallback": "stack 3 cups", |
| "prompt_policy": { |
| "priority": [ |
| "HDF5 attrs: prompt/task/language_instruction/instruction", |
| "HDF5 datasets: prompt/task/language_instruction/instruction", |
| "sidecar prompts.json keyed by episode filename or stem", |
| "task_prompt_fallback" |
| ], |
| "current_dataset_prompt_status": "No prompt field was found in episode_0.hdf5 during local inspection; no prompts.json sidecar was found, so training falls back to task_prompt_fallback." |
| }, |
| "input_policy": { |
| "arm_setting": "both_arms", |
| "state_slice": "state[..., :14]", |
| "action_slice": "action[..., :14]", |
| "adapt_to_pi": true |
| }, |
| "observation_images": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ], |
| "normalization_stats": "from_pretrain/9999/assets/hdf5_stack_3_cups_perfect_both_arms_pi05/norm_stats.json", |
| "notes": [ |
| "The model was trained by directly reading HDF5 episodes and repacking them into OpenPI training batches.", |
| "The data was not pre-converted to LeRobot parquet for this run.", |
| "Both left-arm and right-arm state/action dimensions are used." |
| ] |
| } |
|
|
