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params=dict(
obs_length=1,
train_datasets=dict(
sources=dict(
robodojo=dict(
transforms=[
dict(dataset_action_length=10, type='LoadData'),
dict(
data_flow=dict(
action_left_arm_joint='action_left_arm_joint',
action_left_ee_aa='action_left_ee_aa',
action_left_ee_pos='action_left_ee_pos',
action_left_gripper_pos=
'action_left_gripper_pos',
action_right_arm_joint='action_right_arm_joint',
action_right_ee_aa='action_right_ee_aa',
action_right_ee_pos='action_right_ee_pos',
action_right_gripper_pos=
'action_right_gripper_pos'),
mean=dict(
action_left_arm_joint=[
[
-0.0002336617725054936,
0.0010504209257212386,
0.00069890870825548,
-0.00021386633782510936,
8.607115660509195e-05,
-6.806851659389493e-05,
],
[
-0.0004002431180582599,
0.0018080217178184266,
0.0011964848184807075,
-0.00035407153769715814,
0.00014799337049422207,
-0.0001278701345084231,
],
[
-0.00051663254560204,
0.002332568508809475,
0.0015356004610111954,
-0.00042153559868894966,
0.0001936866427930397,
-0.00019634610858493552,
],
[
-0.0005873803794646563,
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0.00171751213083577,
-0.00040552152354075756,
0.0002176287508169393,
-0.00027751523361778846,
],
[
-0.0006173492642183204,
0.002704408800194692,
0.001739047647581373,
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0.00021982106928955313,
-0.00037340728406703413,
],
[
-0.0006105591817574187,
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0.0016089472320225254,
-9.75610761332275e-05,
0.0002037817820062569,
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],
[
-0.0005716119367229808,
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0.0001744888782508404,
-0.0006171267844424218,
],
[
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],
[
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0.0010507406906932113,
9.428295600147054e-05,
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],
[
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0.00162023167768775,
4.821422143378004e-05,
-0.0011006906808611295,
],
],
action_left_ee_aa=[
[
-0.0001317000782950315,
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-0.00042868573496659783,
],
[
-0.00019474563799710815,
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-0.0007000906932719675,
],
[
-0.0001980384332675688,
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],
[
-0.00013931489888619562,
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],
[
-1.891409584520592e-05,
-0.0008460376438268523,
-0.0006817634044957805,
],
[
0.00015994564577421295,
-0.0009387002162067682,
-0.00036916390615666103,
],
[
0.0003915273984121601,
-0.0010078500112616655,
9.012339422839101e-05,
],
[
0.0006689800379483901,
-0.0010509440155834098,
0.0006837694940983925,
],
[
0.0009910805458447662,
-0.0010656180743522827,
0.00141025702056651,
],
[
0.0013559391589122575,
-0.0010505432365105038,
0.002272507274137474,
],
],
action_left_ee_pos=[
[
0.00016677018835509409,
0.00012862498207813678,
-1.560051817900456e-05,
],
[
0.0001934893993073374,
0.00010644283257368507,
4.0212713278480693e-05,
],
[
0.00011143409744293568,
-4.1293334807406245e-05,
0.00015668357160452523,
],
[
-6.639674895286622e-05,
-0.0002976357637103264,
0.00032794494185869503,
],
[
-0.0003266740248585238,
-0.0006444482515856467,
0.0005485406585346874,
],
[
-0.0006560116224127536,
-0.0010619441859967505,
0.0008137003954825047,
],
[
-0.0010414293916876512,
-0.00152902651359198,
0.0011158320416944255,
],
[
-0.0014626452645389294,
-0.002027154869607504,
0.001447175084196063,
],
[
-0.001907544436457679,
-0.0025392333620059787,
0.0018016411333016385,
],
[
-0.0023757660163160593,
-0.0030494266087428127,
0.002173559802534208,
],
],
action_left_gripper_pos=[
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
],
action_right_arm_joint=[
[
0.0001787740301951409,
0.0016351667777110587,
0.0012448653930520767,
-0.0008581990223503194,
-0.00019627848160280726,
-0.0003219873937794319,
],
[
0.000288483172519859,
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0.00218755784252952,
-0.0015144996668467572,
-0.0003531901372447468,
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],
[
0.0003525699348980571,
0.0038078011811231573,
0.002936982685649583,
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-0.0008291260766259624,
],
[
0.00037951891470561363,
0.004538230190475345,
0.0035288813792196815,
-0.0024677896909679527,
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-0.0010668029036993451,
],
[
0.0003773116947273457,
0.005061952653657257,
0.003975694234571891,
-0.002807063500302661,
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],
[
0.00035298429242263416,
0.005411101948393482,
0.004302526327053632,
-0.0030739536598260774,
-0.0007328879116264441,
-0.0015157349667842344,
],
[
0.000313361527760491,
0.0056198545057305005,
0.004531060854504042,
-0.003279080077263666,
-0.0007792116819267715,
-0.001730335136681934,
],
[
0.0002646272612526183,
0.005719651482588414,
0.0046825798440098465,
-0.0034339760829942417,
-0.0008126823896535603,
-0.0019379659589870164,
],
[
0.00020717223046234947,
0.0057163085670750725,
0.004759240831233115,
-0.0035384077041485515,
-0.0008358092518233019,
-0.00213751023443676,
],
[
0.00013924712221298203,
0.00560894564804176,
0.004757076336103473,
-0.0035873268206015386,
-0.0008508405092692038,
-0.002328784846446202,
],
],
action_right_ee_aa=[
[
0.00034788713456398,
0.00042762336563559864,
-0.0008677584028562739,
],
[
0.0006009132370595388,
0.0007614016329355963,
-0.001457190793463289,
],
[
0.0007926070362674991,
0.0010590025919629644,
-0.0018721175040262883,
],
[
0.0009336054309756759,
0.0013283739068422017,
-0.0021314300073452847,
],
[
0.001033143121813161,
0.0015711994665115177,
-0.002250742743728141,
],
[
0.0010999904056456355,
0.0017870980174372452,
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],
[
0.0011416511985664246,
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],
[
0.0011666875647378817,
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[
0.001176771033497538,
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],
[
0.0011720549215517122,
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],
],
action_right_ee_pos=[
[
0.00020792256082062148,
1.9284940938995584e-05,
-1.551497178995004e-05,
],
[
0.00025708047866885203,
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-8.980888730413616e-05,
],
[
0.00018732871378597865,
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],
[
1.666485071100741e-05,
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-0.00039193424087618215,
],
[
-0.00023825696079209546,
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],
[
-0.0005610692640785476,
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],
[
-0.0009359883033361287,
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],
[
-0.0013455435598069831,
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],
[
-0.0017816440006452132,
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],
[
-0.0022376774176871774,
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-0.0021749049113230163,
],
],
action_right_gripper_pos=[
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
]),
mode='gaussian',
std=dict(
action_left_arm_joint=[
[
0.027481525750413,
0.04829913570762983,
0.042622513533888004,
0.03983032874000348,
0.022101679659071907,
0.04001172844936367,
],
[
0.05305396364056093,
0.09364565819207406,
0.08244246650413456,
0.07688080111596426,
0.04211183181832189,
0.07618741695739273,
],
[
0.07748463191100825,
0.13729157193315222,
0.12071699310049025,
0.11204163877774297,
0.06087308335729155,
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],
[
0.10079624929943966,
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],
[
0.12302256788015255,
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[
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[
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],
[
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],
[
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],
[
0.21804736968171318,
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0.34963907045972786,
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0.1627352908150624,
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],
],
action_left_ee_aa=[
[
0.0234356278574971,
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0.033848518112428796,
],
[
0.04511728464772441,
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],
[
0.08586392462136452,
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[
0.10518149202912241,
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[
0.12382286830048536,
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],
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],
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0.15876572289943072,
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],
[
0.17506511217748374,
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0.2578966653597955,
],
[
0.1905074012695627,
0.27172661912898216,
0.28100518477839276,
],
],
action_left_ee_pos=[
[
0.007529582901916562,
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0.00766306553827196,
],
[
0.014483401196302297,
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],
[
0.021089858345640023,
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],
],
action_left_gripper_pos=[
[
0.5,
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[
0.5,
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[
0.5,
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[
0.5,
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[
0.5,
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0.5,
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[
0.5,
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0.5,
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0.5,
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[
0.5,
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],
action_right_arm_joint=[
[
0.025610296588178073,
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[
0.07219723688040969,
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],
[
0.09384762983690631,
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[
0.11444917988357009,
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[
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[
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[
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],
[
0.20209773428799113,
0.4033548569779573,
0.3554682689726912,
0.3162637491572623,
0.15753401731105976,
0.32860005552131977,
],
],
action_right_ee_aa=[
[
0.022602155549181525,
0.035530180117331646,
0.0349138950707997,
],
[
0.04351554424837043,
0.06770611662563446,
0.06738635347731659,
],
[
0.06353219492191785,
0.09855499017504298,
0.09890766369889721,
],
[
0.082802430081105,
0.12829591291559594,
0.12958522193108774,
],
[
0.10140204566602931,
0.15692855594870347,
0.15933578667550236,
],
[
0.11934741599709434,
0.18438976977517246,
0.1881316687469321,
],
[
0.1365407369253484,
0.2106338579527239,
0.21584997960401844,
],
[
0.15299695424918425,
0.23559286840528712,
0.24233204863101976,
],
[
0.1687114704119736,
0.2592573655964146,
0.2676613887055857,
],
[
0.18372269405918573,
0.28162463984982244,
0.2917598652031987,
],
],
action_right_ee_pos=[
[
0.007627185185354401,
0.006917675579554725,
0.007506290631392028,
],
[
0.014675281918758989,
0.013251821737120854,
0.014435897528566931,
],
[
0.021358702627372942,
0.01918440891333368,
0.02109707520640407,
],
[
0.02766485175597832,
0.024735340908401543,
0.02747736439658292,
],
[
0.03358360015205832,
0.029944653012880598,
0.03358432828208687,
],
[
0.03908431769300251,
0.034825249963530716,
0.03942532081578844,
],
[
0.044166974241344414,
0.03939635182973928,
0.04498763069813808,
],
[
0.04876962118897926,
0.043690627639190266,
0.050222415543017145,
],
[
0.05296256803382005,
0.04772264483632286,
0.055137294466337895,
],
[
0.05677869625721026,
0.051515713083481796,
0.05975253321300159,
],
],
action_right_gripper_pos=[
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
[
0.5,
],
]),
type='Normalize'),
dict(
data_flow=dict(
proprio_left_arm_joint='proprio_left_arm_joint',
proprio_left_gripper_pos=
'proprio_left_gripper_pos',
proprio_right_arm_joint=
'proprio_right_arm_joint',
proprio_right_gripper_pos=
'proprio_right_gripper_pos'),
mode='quantile',
q01=dict(
proprio_left_arm_joint=[
[
-1.0541115856170655,
-3.4518439132437753e-14,
1.6985428606815337e-16,
-1.6003172194957733,
-0.6041505694389343,
-1.6724713099002837,
],
],
proprio_left_gripper_pos=[
[
0.0,
],
],
proprio_right_arm_joint=[
[
-0.44401007175445556,
-2.5900331921226738e-14,
1.179751540135558e-16,
-1.6367736232280732,
-1.269262043237686,
-1.7315139174461365,
],
],
proprio_right_gripper_pos=[
[
0.0,
],
]),
q99=dict(
proprio_left_arm_joint=[
[
0.5460636925697326,
2.496033661365509,
2.501376061439514,
1.3252216386795044,
1.2511569821834563,
1.7525235462188715,
],
],
proprio_left_gripper_pos=[
[
1.0,
],
],
proprio_right_arm_joint=[
[
1.0833355581760407,
2.419030408859253,
2.3494504857063294,
1.1451962506771087,
0.521767293214798,
1.4940189695358277,
],
],
proprio_right_gripper_pos=[
[
1.0,
],
]),
type='Normalize'),
dict(
reversed_data_flow=dict(
state=dict(
proprio_left_arm_joint=[
0,
6,
],
proprio_left_gripper_pos=[
7,
8,
],
proprio_padding=[
16,
60,
],
proprio_padding_left=[
6,
7,
],
proprio_padding_right=[
14,
15,
],
proprio_right_arm_joint=[
8,
14,
],
proprio_right_gripper_pos=[
15,
16,
])),
type='ComposeState'),
dict(
reversed_data_flow=dict(
action=dict(
action_left_ee_aa=[
3,
6,
],
action_left_ee_pos=[
0,
3,
],
action_left_gripper_pos=[
7,
8,
],
action_mask_key='action_mask',
action_padding=[
16,
60,
],
action_padding_left=[
6,
7,
],
action_padding_right=[
14,
15,
],
action_right_ee_aa=[
11,
14,
],
action_right_ee_pos=[
8,
11,
],
action_right_gripper_pos=[
15,
16,
])),
type='ComposeAction'),
])))))
model = dict(
params=dict(
model=dict(
action_shape=(
10,
60,
),
dit_num_layers=36,
enable_dct=False,
ffn_gradient_checkpointing=False,
freeze_vlm=False,
knowledge_insulation=True,
n_choices=5,
pretrained_model='Qwen/Qwen3-VL-4B-Instruct',
state_shape=(
1,
60,
)),
))
|