Upload config.py with huggingface_hub
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config.py
ADDED
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|
| 1 |
+
data = dict(
|
| 2 |
+
params=dict(
|
| 3 |
+
obs_length=1,
|
| 4 |
+
train_datasets=dict(
|
| 5 |
+
sources=dict(
|
| 6 |
+
robodojo=dict(
|
| 7 |
+
transforms=[
|
| 8 |
+
dict(dataset_action_length=10, type='LoadData'),
|
| 9 |
+
dict(
|
| 10 |
+
data_flow=dict(
|
| 11 |
+
action_left_arm_joint='action_left_arm_joint',
|
| 12 |
+
action_left_ee_aa='action_left_ee_aa',
|
| 13 |
+
action_left_ee_pos='action_left_ee_pos',
|
| 14 |
+
action_left_gripper_pos=
|
| 15 |
+
'action_left_gripper_pos',
|
| 16 |
+
action_right_arm_joint='action_right_arm_joint',
|
| 17 |
+
action_right_ee_aa='action_right_ee_aa',
|
| 18 |
+
action_right_ee_pos='action_right_ee_pos',
|
| 19 |
+
action_right_gripper_pos=
|
| 20 |
+
'action_right_gripper_pos'),
|
| 21 |
+
mean=dict(
|
| 22 |
+
action_left_arm_joint=[
|
| 23 |
+
[
|
| 24 |
+
-0.0002336617725054936,
|
| 25 |
+
0.0010504209257212386,
|
| 26 |
+
0.00069890870825548,
|
| 27 |
+
-0.00021386633782510936,
|
| 28 |
+
8.607115660509195e-05,
|
| 29 |
+
-6.806851659389493e-05,
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
-0.0004002431180582599,
|
| 33 |
+
0.0018080217178184266,
|
| 34 |
+
0.0011964848184807075,
|
| 35 |
+
-0.00035407153769715814,
|
| 36 |
+
0.00014799337049422207,
|
| 37 |
+
-0.0001278701345084231,
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
-0.00051663254560204,
|
| 41 |
+
0.002332568508809475,
|
| 42 |
+
0.0015356004610111954,
|
| 43 |
+
-0.00042153559868894966,
|
| 44 |
+
0.0001936866427930397,
|
| 45 |
+
-0.00019634610858493552,
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
-0.0005873803794646563,
|
| 49 |
+
0.0026338938283714266,
|
| 50 |
+
0.00171751213083577,
|
| 51 |
+
-0.00040552152354075756,
|
| 52 |
+
0.0002176287508169393,
|
| 53 |
+
-0.00027751523361778846,
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
-0.0006173492642183204,
|
| 57 |
+
0.002704408800194692,
|
| 58 |
+
0.001739047647581373,
|
| 59 |
+
-0.00029836143858134607,
|
| 60 |
+
0.00021982106928955313,
|
| 61 |
+
-0.00037340728406703413,
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
-0.0006105591817574187,
|
| 65 |
+
0.002556236423740256,
|
| 66 |
+
0.0016089472320225254,
|
| 67 |
+
-9.75610761332275e-05,
|
| 68 |
+
0.0002037817820062569,
|
| 69 |
+
-0.0004863481436226504,
|
| 70 |
+
],
|
| 71 |
+
[
|
| 72 |
+
-0.0005716119367229808,
|
| 73 |
+
0.00220981214835286,
|
| 74 |
+
0.001340980569465722,
|
| 75 |
+
0.00019580472547714556,
|
| 76 |
+
0.0001744888782508404,
|
| 77 |
+
-0.0006171267844424218,
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
-0.0005055127780022307,
|
| 81 |
+
0.001687711658814633,
|
| 82 |
+
0.0009511830953590759,
|
| 83 |
+
0.000577740551501335,
|
| 84 |
+
0.00013695338013141467,
|
| 85 |
+
-0.0007635171624476005,
|
| 86 |
+
],
|
| 87 |
+
[
|
| 88 |
+
-0.00041318778866605046,
|
| 89 |
+
0.000996408147454423,
|
| 90 |
+
0.00044217849927452943,
|
| 91 |
+
0.0010507406906932113,
|
| 92 |
+
9.428295600147054e-05,
|
| 93 |
+
-0.0009249689308323569,
|
| 94 |
+
],
|
| 95 |
+
[
|
| 96 |
+
-0.00029424916547926604,
|
| 97 |
+
0.0001341606571408618,
|
| 98 |
+
-0.00018998938515073013,
|
| 99 |
+
0.00162023167768775,
|
| 100 |
+
4.821422143378004e-05,
|
| 101 |
+
-0.0011006906808611295,
|
| 102 |
+
],
|
| 103 |
+
],
|
| 104 |
+
action_left_ee_aa=[
|
| 105 |
+
[
|
| 106 |
+
-0.0001317000782950315,
|
| 107 |
+
-0.0002463418527481949,
|
| 108 |
+
-0.00042868573496659783,
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
-0.00019474563799710815,
|
| 112 |
+
-0.0004335946231390664,
|
| 113 |
+
-0.0007000906932719675,
|
| 114 |
+
],
|
| 115 |
+
[
|
| 116 |
+
-0.0001980384332675688,
|
| 117 |
+
-0.0005941233937811292,
|
| 118 |
+
-0.0008430627948123985,
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
-0.00013931489888619562,
|
| 122 |
+
-0.00073133806598705,
|
| 123 |
+
-0.0008397205564547654,
|
| 124 |
+
],
|
| 125 |
+
[
|
| 126 |
+
-1.891409584520592e-05,
|
| 127 |
+
-0.0008460376438268523,
|
| 128 |
+
-0.0006817634044957805,
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
0.00015994564577421295,
|
| 132 |
+
-0.0009387002162067682,
|
| 133 |
+
-0.00036916390615666103,
|
| 134 |
+
],
|
| 135 |
+
[
|
| 136 |
+
0.0003915273984121601,
|
| 137 |
+
-0.0010078500112616655,
|
| 138 |
+
9.012339422839101e-05,
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
0.0006689800379483901,
|
| 142 |
+
-0.0010509440155834098,
|
| 143 |
+
0.0006837694940983925,
|
| 144 |
+
],
|
| 145 |
+
[
|
| 146 |
+
0.0009910805458447662,
|
| 147 |
+
-0.0010656180743522827,
|
| 148 |
+
0.00141025702056651,
|
| 149 |
+
],
|
| 150 |
+
[
|
| 151 |
+
0.0013559391589122575,
|
| 152 |
+
-0.0010505432365105038,
|
| 153 |
+
0.002272507274137474,
|
| 154 |
+
],
|
| 155 |
+
],
|
| 156 |
+
action_left_ee_pos=[
|
| 157 |
+
[
|
| 158 |
+
0.00016677018835509409,
|
| 159 |
+
0.00012862498207813678,
|
| 160 |
+
-1.560051817900456e-05,
|
| 161 |
+
],
|
| 162 |
+
[
|
| 163 |
+
0.0001934893993073374,
|
| 164 |
+
0.00010644283257368507,
|
| 165 |
+
4.0212713278480693e-05,
|
| 166 |
+
],
|
| 167 |
+
[
|
| 168 |
+
0.00011143409744293568,
|
| 169 |
+
-4.1293334807406245e-05,
|
| 170 |
+
0.00015668357160452523,
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-6.639674895286622e-05,
|
| 174 |
+
-0.0002976357637103264,
|
| 175 |
+
0.00032794494185869503,
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
-0.0003266740248585238,
|
| 179 |
+
-0.0006444482515856467,
|
| 180 |
+
0.0005485406585346874,
|
| 181 |
+
],
|
| 182 |
+
[
|
| 183 |
+
-0.0006560116224127536,
|
| 184 |
+
-0.0010619441859967505,
|
| 185 |
+
0.0008137003954825047,
|
| 186 |
+
],
|
| 187 |
+
[
|
| 188 |
+
-0.0010414293916876512,
|
| 189 |
+
-0.00152902651359198,
|
| 190 |
+
0.0011158320416944255,
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
-0.0014626452645389294,
|
| 194 |
+
-0.002027154869607504,
|
| 195 |
+
0.001447175084196063,
|
| 196 |
+
],
|
| 197 |
+
[
|
| 198 |
+
-0.001907544436457679,
|
| 199 |
+
-0.0025392333620059787,
|
| 200 |
+
0.0018016411333016385,
|
| 201 |
+
],
|
| 202 |
+
[
|
| 203 |
+
-0.0023757660163160593,
|
| 204 |
+
-0.0030494266087428127,
|
| 205 |
+
0.002173559802534208,
|
| 206 |
+
],
|
| 207 |
+
],
|
| 208 |
+
action_left_gripper_pos=[
|
| 209 |
+
[
|
| 210 |
+
0.5,
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
0.5,
|
| 214 |
+
],
|
| 215 |
+
[
|
| 216 |
+
0.5,
|
| 217 |
+
],
|
| 218 |
+
[
|
| 219 |
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0.5,
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
0.5,
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
0.5,
|
| 226 |
+
],
|
| 227 |
+
[
|
| 228 |
+
0.5,
|
| 229 |
+
],
|
| 230 |
+
[
|
| 231 |
+
0.5,
|
| 232 |
+
],
|
| 233 |
+
[
|
| 234 |
+
0.5,
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
0.5,
|
| 238 |
+
],
|
| 239 |
+
],
|
| 240 |
+
action_right_arm_joint=[
|
| 241 |
+
[
|
| 242 |
+
0.0001787740301951409,
|
| 243 |
+
0.0016351667777110587,
|
| 244 |
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0.0012448653930520767,
|
| 245 |
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|
| 246 |
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|
| 247 |
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-0.0003219873937794319,
|
| 248 |
+
],
|
| 249 |
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[
|
| 250 |
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0.000288483172519859,
|
| 251 |
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0.0028629489014310064,
|
| 252 |
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0.00218755784252952,
|
| 253 |
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|
| 254 |
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-0.0003531901372447468,
|
| 255 |
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-0.0005830396617885126,
|
| 256 |
+
],
|
| 257 |
+
[
|
| 258 |
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0.0003525699348980571,
|
| 259 |
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0.0038078011811231573,
|
| 260 |
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0.002936982685649583,
|
| 261 |
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-0.0020406116351790525,
|
| 262 |
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|
| 263 |
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-0.0008291260766259624,
|
| 264 |
+
],
|
| 265 |
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[
|
| 266 |
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0.00037951891470561363,
|
| 267 |
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0.004538230190475345,
|
| 268 |
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0.0035288813792196815,
|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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],
|
| 273 |
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[
|
| 274 |
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0.0003773116947273457,
|
| 275 |
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0.005061952653657257,
|
| 276 |
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0.003975694234571891,
|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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],
|
| 281 |
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[
|
| 282 |
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0.00035298429242263416,
|
| 283 |
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0.005411101948393482,
|
| 284 |
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0.004302526327053632,
|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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],
|
| 289 |
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[
|
| 290 |
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0.000313361527760491,
|
| 291 |
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0.0056198545057305005,
|
| 292 |
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0.004531060854504042,
|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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],
|
| 297 |
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[
|
| 298 |
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0.0002646272612526183,
|
| 299 |
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0.005719651482588414,
|
| 300 |
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0.0046825798440098465,
|
| 301 |
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-0.0034339760829942417,
|
| 302 |
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-0.0008126823896535603,
|
| 303 |
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-0.0019379659589870164,
|
| 304 |
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],
|
| 305 |
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[
|
| 306 |
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0.00020717223046234947,
|
| 307 |
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0.0057163085670750725,
|
| 308 |
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0.004759240831233115,
|
| 309 |
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-0.0035384077041485515,
|
| 310 |
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-0.0008358092518233019,
|
| 311 |
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-0.00213751023443676,
|
| 312 |
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],
|
| 313 |
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[
|
| 314 |
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0.00013924712221298203,
|
| 315 |
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0.00560894564804176,
|
| 316 |
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0.004757076336103473,
|
| 317 |
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-0.0035873268206015386,
|
| 318 |
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-0.0008508405092692038,
|
| 319 |
+
-0.002328784846446202,
|
| 320 |
+
],
|
| 321 |
+
],
|
| 322 |
+
action_right_ee_aa=[
|
| 323 |
+
[
|
| 324 |
+
0.00034788713456398,
|
| 325 |
+
0.00042762336563559864,
|
| 326 |
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-0.0008677584028562739,
|
| 327 |
+
],
|
| 328 |
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[
|
| 329 |
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0.0006009132370595388,
|
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0.3698300657236233,
|
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0.3266022984773744,
|
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0.2914519178917827,
|
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0.14602592471503303,
|
| 749 |
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0.301835189936452,
|
| 750 |
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],
|
| 751 |
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[
|
| 752 |
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0.20209773428799113,
|
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0.4033548569779573,
|
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0.3554682689726912,
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0.3162637491572623,
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0.15753401731105976,
|
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0.32860005552131977,
|
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],
|
| 759 |
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|
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action_right_ee_aa=[
|
| 761 |
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[
|
| 762 |
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0.022602155549181525,
|
| 763 |
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0.035530180117331646,
|
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0.0349138950707997,
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|
| 766 |
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[
|
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0.04351554424837043,
|
| 768 |
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0.06770611662563446,
|
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0.06738635347731659,
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[
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0.06353219492191785,
|
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0.09855499017504298,
|
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0.09890766369889721,
|
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[
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0.082802430081105,
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0.12829591291559594,
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0.12958522193108774,
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[
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0.10140204566602931,
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0.15692855594870347,
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0.15933578667550236,
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[
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0.11934741599709434,
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0.18438976977517246,
|
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0.1881316687469321,
|
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[
|
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0.1365407369253484,
|
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0.2106338579527239,
|
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0.21584997960401844,
|
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],
|
| 796 |
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[
|
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0.15299695424918425,
|
| 798 |
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0.23559286840528712,
|
| 799 |
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0.24233204863101976,
|
| 800 |
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],
|
| 801 |
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[
|
| 802 |
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0.1687114704119736,
|
| 803 |
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0.2592573655964146,
|
| 804 |
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0.2676613887055857,
|
| 805 |
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],
|
| 806 |
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[
|
| 807 |
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0.18372269405918573,
|
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0.28162463984982244,
|
| 809 |
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0.2917598652031987,
|
| 810 |
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],
|
| 811 |
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],
|
| 812 |
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action_right_ee_pos=[
|
| 813 |
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[
|
| 814 |
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0.007627185185354401,
|
| 815 |
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0.006917675579554725,
|
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0.007506290631392028,
|
| 817 |
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],
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| 818 |
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[
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0.014675281918758989,
|
| 820 |
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0.013251821737120854,
|
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0.014435897528566931,
|
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],
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[
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| 824 |
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0.021358702627372942,
|
| 825 |
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0.01918440891333368,
|
| 826 |
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0.02109707520640407,
|
| 827 |
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],
|
| 828 |
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[
|
| 829 |
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0.02766485175597832,
|
| 830 |
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0.024735340908401543,
|
| 831 |
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0.02747736439658292,
|
| 832 |
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],
|
| 833 |
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[
|
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0.03358360015205832,
|
| 835 |
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0.029944653012880598,
|
| 836 |
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0.03358432828208687,
|
| 837 |
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],
|
| 838 |
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[
|
| 839 |
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0.03908431769300251,
|
| 840 |
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0.034825249963530716,
|
| 841 |
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0.03942532081578844,
|
| 842 |
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],
|
| 843 |
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[
|
| 844 |
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0.044166974241344414,
|
| 845 |
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0.03939635182973928,
|
| 846 |
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0.04498763069813808,
|
| 847 |
+
],
|
| 848 |
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[
|
| 849 |
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0.04876962118897926,
|
| 850 |
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0.043690627639190266,
|
| 851 |
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0.050222415543017145,
|
| 852 |
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],
|
| 853 |
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[
|
| 854 |
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0.05296256803382005,
|
| 855 |
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0.04772264483632286,
|
| 856 |
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0.055137294466337895,
|
| 857 |
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],
|
| 858 |
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[
|
| 859 |
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0.05677869625721026,
|
| 860 |
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0.051515713083481796,
|
| 861 |
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0.05975253321300159,
|
| 862 |
+
],
|
| 863 |
+
],
|
| 864 |
+
action_right_gripper_pos=[
|
| 865 |
+
[
|
| 866 |
+
0.5,
|
| 867 |
+
],
|
| 868 |
+
[
|
| 869 |
+
0.5,
|
| 870 |
+
],
|
| 871 |
+
[
|
| 872 |
+
0.5,
|
| 873 |
+
],
|
| 874 |
+
[
|
| 875 |
+
0.5,
|
| 876 |
+
],
|
| 877 |
+
[
|
| 878 |
+
0.5,
|
| 879 |
+
],
|
| 880 |
+
[
|
| 881 |
+
0.5,
|
| 882 |
+
],
|
| 883 |
+
[
|
| 884 |
+
0.5,
|
| 885 |
+
],
|
| 886 |
+
[
|
| 887 |
+
0.5,
|
| 888 |
+
],
|
| 889 |
+
[
|
| 890 |
+
0.5,
|
| 891 |
+
],
|
| 892 |
+
[
|
| 893 |
+
0.5,
|
| 894 |
+
],
|
| 895 |
+
]),
|
| 896 |
+
type='Normalize'),
|
| 897 |
+
dict(
|
| 898 |
+
data_flow=dict(
|
| 899 |
+
proprio_left_arm_joint='proprio_left_arm_joint',
|
| 900 |
+
proprio_left_gripper_pos=
|
| 901 |
+
'proprio_left_gripper_pos',
|
| 902 |
+
proprio_right_arm_joint=
|
| 903 |
+
'proprio_right_arm_joint',
|
| 904 |
+
proprio_right_gripper_pos=
|
| 905 |
+
'proprio_right_gripper_pos'),
|
| 906 |
+
mode='quantile',
|
| 907 |
+
q01=dict(
|
| 908 |
+
proprio_left_arm_joint=[
|
| 909 |
+
[
|
| 910 |
+
-1.0541115856170655,
|
| 911 |
+
-3.4518439132437753e-14,
|
| 912 |
+
1.6985428606815337e-16,
|
| 913 |
+
-1.6003172194957733,
|
| 914 |
+
-0.6041505694389343,
|
| 915 |
+
-1.6724713099002837,
|
| 916 |
+
],
|
| 917 |
+
],
|
| 918 |
+
proprio_left_gripper_pos=[
|
| 919 |
+
[
|
| 920 |
+
0.0,
|
| 921 |
+
],
|
| 922 |
+
],
|
| 923 |
+
proprio_right_arm_joint=[
|
| 924 |
+
[
|
| 925 |
+
-0.44401007175445556,
|
| 926 |
+
-2.5900331921226738e-14,
|
| 927 |
+
1.179751540135558e-16,
|
| 928 |
+
-1.6367736232280732,
|
| 929 |
+
-1.269262043237686,
|
| 930 |
+
-1.7315139174461365,
|
| 931 |
+
],
|
| 932 |
+
],
|
| 933 |
+
proprio_right_gripper_pos=[
|
| 934 |
+
[
|
| 935 |
+
0.0,
|
| 936 |
+
],
|
| 937 |
+
]),
|
| 938 |
+
q99=dict(
|
| 939 |
+
proprio_left_arm_joint=[
|
| 940 |
+
[
|
| 941 |
+
0.5460636925697326,
|
| 942 |
+
2.496033661365509,
|
| 943 |
+
2.501376061439514,
|
| 944 |
+
1.3252216386795044,
|
| 945 |
+
1.2511569821834563,
|
| 946 |
+
1.7525235462188715,
|
| 947 |
+
],
|
| 948 |
+
],
|
| 949 |
+
proprio_left_gripper_pos=[
|
| 950 |
+
[
|
| 951 |
+
1.0,
|
| 952 |
+
],
|
| 953 |
+
],
|
| 954 |
+
proprio_right_arm_joint=[
|
| 955 |
+
[
|
| 956 |
+
1.0833355581760407,
|
| 957 |
+
2.419030408859253,
|
| 958 |
+
2.3494504857063294,
|
| 959 |
+
1.1451962506771087,
|
| 960 |
+
0.521767293214798,
|
| 961 |
+
1.4940189695358277,
|
| 962 |
+
],
|
| 963 |
+
],
|
| 964 |
+
proprio_right_gripper_pos=[
|
| 965 |
+
[
|
| 966 |
+
1.0,
|
| 967 |
+
],
|
| 968 |
+
]),
|
| 969 |
+
type='Normalize'),
|
| 970 |
+
dict(
|
| 971 |
+
reversed_data_flow=dict(
|
| 972 |
+
state=dict(
|
| 973 |
+
proprio_left_arm_joint=[
|
| 974 |
+
0,
|
| 975 |
+
6,
|
| 976 |
+
],
|
| 977 |
+
proprio_left_gripper_pos=[
|
| 978 |
+
7,
|
| 979 |
+
8,
|
| 980 |
+
],
|
| 981 |
+
proprio_padding=[
|
| 982 |
+
16,
|
| 983 |
+
60,
|
| 984 |
+
],
|
| 985 |
+
proprio_padding_left=[
|
| 986 |
+
6,
|
| 987 |
+
7,
|
| 988 |
+
],
|
| 989 |
+
proprio_padding_right=[
|
| 990 |
+
14,
|
| 991 |
+
15,
|
| 992 |
+
],
|
| 993 |
+
proprio_right_arm_joint=[
|
| 994 |
+
8,
|
| 995 |
+
14,
|
| 996 |
+
],
|
| 997 |
+
proprio_right_gripper_pos=[
|
| 998 |
+
15,
|
| 999 |
+
16,
|
| 1000 |
+
])),
|
| 1001 |
+
type='ComposeState'),
|
| 1002 |
+
dict(
|
| 1003 |
+
reversed_data_flow=dict(
|
| 1004 |
+
action=dict(
|
| 1005 |
+
action_left_ee_aa=[
|
| 1006 |
+
3,
|
| 1007 |
+
6,
|
| 1008 |
+
],
|
| 1009 |
+
action_left_ee_pos=[
|
| 1010 |
+
0,
|
| 1011 |
+
3,
|
| 1012 |
+
],
|
| 1013 |
+
action_left_gripper_pos=[
|
| 1014 |
+
7,
|
| 1015 |
+
8,
|
| 1016 |
+
],
|
| 1017 |
+
action_mask_key='action_mask',
|
| 1018 |
+
action_padding=[
|
| 1019 |
+
16,
|
| 1020 |
+
60,
|
| 1021 |
+
],
|
| 1022 |
+
action_padding_left=[
|
| 1023 |
+
6,
|
| 1024 |
+
7,
|
| 1025 |
+
],
|
| 1026 |
+
action_padding_right=[
|
| 1027 |
+
14,
|
| 1028 |
+
15,
|
| 1029 |
+
],
|
| 1030 |
+
action_right_ee_aa=[
|
| 1031 |
+
11,
|
| 1032 |
+
14,
|
| 1033 |
+
],
|
| 1034 |
+
action_right_ee_pos=[
|
| 1035 |
+
8,
|
| 1036 |
+
11,
|
| 1037 |
+
],
|
| 1038 |
+
action_right_gripper_pos=[
|
| 1039 |
+
15,
|
| 1040 |
+
16,
|
| 1041 |
+
])),
|
| 1042 |
+
type='ComposeAction'),
|
| 1043 |
+
])))))
|
| 1044 |
+
model = dict(
|
| 1045 |
+
params=dict(
|
| 1046 |
+
model=dict(
|
| 1047 |
+
action_shape=(
|
| 1048 |
+
10,
|
| 1049 |
+
60,
|
| 1050 |
+
),
|
| 1051 |
+
dit_num_layers=36,
|
| 1052 |
+
enable_dct=False,
|
| 1053 |
+
ffn_gradient_checkpointing=False,
|
| 1054 |
+
freeze_vlm=False,
|
| 1055 |
+
knowledge_insulation=True,
|
| 1056 |
+
n_choices=5,
|
| 1057 |
+
pretrained_model='Qwen/Qwen3-VL-4B-Instruct',
|
| 1058 |
+
state_shape=(
|
| 1059 |
+
1,
|
| 1060 |
+
60,
|
| 1061 |
+
)),
|
| 1062 |
+
))
|