Download norm_config.json from microsoft/CogACT-v2-RoboDojo: direct link, hf CLI and curl.
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- Download file 3.8 kB
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https://huggingface.co/microsoft/CogACT-v2-RoboDojo/resolve/main/norm_config.json
- Command line
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hf download hf://microsoft/CogACT-v2-RoboDojo/norm_config.json
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curl -L -o norm_config.json https://huggingface.co/microsoft/CogACT-v2-RoboDojo/resolve/main/norm_config.json
3.8 kB
| [ | |
| { | |
| "use_action_norm": true, | |
| "use_state_norm": true, | |
| "norm_type": "gaussian", | |
| "unnorm_key": "robodojo_camera_space_ref_head_6d_abs_abs_stride_1_num_steps_30_interpolation", | |
| "statistics_dict": { | |
| "robodojo_camera_space_ref_head_6d_abs_abs_stride_1_num_steps_30_interpolation": { | |
| "state": { | |
| "mean": { | |
| "ROBOT_LEFT_TRANS": [ | |
| -0.23276467621326447, | |
| 0.03926301375031471, | |
| 0.3815557658672333 | |
| ], | |
| "ROBOT_LEFT_ROT_6D": [ | |
| 0.12185066193342209, | |
| 0.8142456412315369, | |
| 0.12061137706041336, | |
| -0.5974507331848145, | |
| 0.14377731084823608, | |
| -0.3133965730667114 | |
| ], | |
| "ROBOT_RIGHT_TRANS": [ | |
| 0.24575446546077728, | |
| 0.05313309282064438, | |
| 0.3772231638431549 | |
| ], | |
| "ROBOT_RIGHT_ROT_6D": [ | |
| -0.08517834544181824, | |
| 0.8556382656097412, | |
| -0.10383229702711105, | |
| -0.5988039970397949, | |
| -0.11237773299217224, | |
| -0.3635596036911011 | |
| ] | |
| }, | |
| "std": { | |
| "ROBOT_LEFT_TRANS": [ | |
| 0.11020703613758087, | |
| 0.10544796288013458, | |
| 0.051956914365291595 | |
| ], | |
| "ROBOT_LEFT_ROT_6D": [ | |
| 0.3487299680709839, | |
| 0.3431629538536072, | |
| 0.26124870777130127, | |
| 0.2569718062877655, | |
| 0.3526705801486969, | |
| 0.5777003169059753 | |
| ], | |
| "ROBOT_RIGHT_TRANS": [ | |
| 0.09782838076353073, | |
| 0.1035986915230751, | |
| 0.04970450699329376 | |
| ], | |
| "ROBOT_RIGHT_ROT_6D": [ | |
| 0.3141445219516754, | |
| 0.30556175112724304, | |
| 0.2404070794582367, | |
| 0.24038273096084595, | |
| 0.3238118290901184, | |
| 0.5779281258583069 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "mean": { | |
| "ROBOT_LEFT_TRANS": [ | |
| -0.2320488840341568, | |
| 0.039685606956481934, | |
| 0.38134101033210754 | |
| ], | |
| "ROBOT_LEFT_ROT_6D": [ | |
| 0.11907698214054108, | |
| 0.8146829605102539, | |
| 0.12148554623126984, | |
| -0.5962557196617126, | |
| 0.14183281362056732, | |
| -0.31801968812942505 | |
| ], | |
| "ROBOT_RIGHT_TRANS": [ | |
| 0.24540719389915466, | |
| 0.05302022397518158, | |
| 0.37697815895080566 | |
| ], | |
| "ROBOT_RIGHT_ROT_6D": [ | |
| -0.0869886726140976, | |
| 0.8551560044288635, | |
| -0.10664575546979904, | |
| -0.6006272435188293, | |
| -0.11563403904438019, | |
| -0.3621114492416382 | |
| ] | |
| }, | |
| "std": { | |
| "ROBOT_LEFT_TRANS": [ | |
| 0.11011764407157898, | |
| 0.10523510724306107, | |
| 0.052203454077243805 | |
| ], | |
| "ROBOT_LEFT_ROT_6D": [ | |
| 0.34839338064193726, | |
| 0.342747300863266, | |
| 0.2617248296737671, | |
| 0.2554849684238434, | |
| 0.35237258672714233, | |
| 0.5777430534362793 | |
| ], | |
| "ROBOT_RIGHT_TRANS": [ | |
| 0.09806261956691742, | |
| 0.1031850054860115, | |
| 0.04984130337834358 | |
| ], | |
| "ROBOT_RIGHT_ROT_6D": [ | |
| 0.3133242428302765, | |
| 0.30492258071899414, | |
| 0.24211184680461884, | |
| 0.23917348682880402, | |
| 0.32351747155189514, | |
| 0.5769604444503784 | |
| ] | |
| } | |
| } | |
| } | |
| } | |
| } | |
| ] | |