| data = dict( |
| 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=[ |
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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, |
| )), |
| )) |
|
|
