theconstruct-ai commited on
Commit
bd07ba1
·
verified ·
1 Parent(s): ec1e6fb

Upload folder using huggingface_hub

Browse files
config.json ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action_horizon": 40,
3
+ "add_pos_embed": true,
4
+ "apply_sincos_state_encoding": false,
5
+ "architectures": [
6
+ "Gr00tN1d7"
7
+ ],
8
+ "attn_dropout": 0.2,
9
+ "attn_implementation": null,
10
+ "backbone_embedding_dim": 2048,
11
+ "backbone_trainable_params_fp32": true,
12
+ "color_jitter_params": {
13
+ "brightness": 0.3,
14
+ "contrast": 0.4,
15
+ "hue": 0.08,
16
+ "saturation": 0.5
17
+ },
18
+ "crop_fraction": 0.95,
19
+ "diffusion_model_cfg": {
20
+ "attention_head_dim": 48,
21
+ "dropout": 0.2,
22
+ "final_dropout": true,
23
+ "interleave_self_attention": true,
24
+ "norm_type": "ada_norm",
25
+ "num_attention_heads": 32,
26
+ "num_layers": 32,
27
+ "output_dim": 1024,
28
+ "positional_embeddings": null
29
+ },
30
+ "dtype": "bfloat16",
31
+ "exclude_state": false,
32
+ "formalize_language": true,
33
+ "hidden_size": 1024,
34
+ "image_crop_size": [
35
+ 230,
36
+ 230
37
+ ],
38
+ "image_target_size": [
39
+ 256,
40
+ 256
41
+ ],
42
+ "letter_box_transform": false,
43
+ "load_bf16": false,
44
+ "max_action_dim": 132,
45
+ "max_num_embodiments": 32,
46
+ "max_seq_len": 1024,
47
+ "max_state_dim": 132,
48
+ "model_dtype": "bfloat16",
49
+ "model_name": "nvidia/Cosmos-Reason2-2B",
50
+ "model_type": "Gr00tN1d7",
51
+ "noise_beta_alpha": 1.5,
52
+ "noise_beta_beta": 1.0,
53
+ "noise_s": 0.999,
54
+ "num_inference_timesteps": 4,
55
+ "num_timestep_buckets": 1000,
56
+ "random_history_crop": true,
57
+ "random_rotation_angle": 0,
58
+ "reproject_vision": false,
59
+ "rtc_ramp_rate": 6.0,
60
+ "select_layer": 16,
61
+ "shortest_image_edge": 256,
62
+ "state_dropout_prob": 0.2,
63
+ "state_gaussian_noise_std": 0.0,
64
+ "transformers_version": "4.57.3",
65
+ "tune_diffusion_model": true,
66
+ "tune_linear": true,
67
+ "tune_llm": false,
68
+ "tune_projector": true,
69
+ "tune_top_llm_layers": 0,
70
+ "tune_visual": false,
71
+ "tune_vlln": true,
72
+ "use_albumentations": true,
73
+ "use_alternate_vl_dit": true,
74
+ "use_flash_attention": true,
75
+ "use_future_tokens": false,
76
+ "use_mean_std": false,
77
+ "use_percentiles": true,
78
+ "use_vl_self_attention": true,
79
+ "use_vlln": true,
80
+ "vl_self_attention_cfg": {
81
+ "attention_head_dim": 64,
82
+ "dropout": 0.2,
83
+ "final_dropout": true,
84
+ "num_attention_heads": 32,
85
+ "num_layers": 4,
86
+ "positional_embeddings": null
87
+ }
88
+ }
embodiment_id.json ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robocasa_panda_omron": 13,
3
+ "oxe_droid": 17,
4
+ "oxe_fractal": 18,
5
+ "oxe_language_table": 19,
6
+ "oxe_bridge": 20,
7
+ "unknown": 22,
8
+ "gr1_unified": 20,
9
+ "agibot": 26,
10
+ "sim_behavior_r1_pro": 23,
11
+ "xdof": 24,
12
+ "xdof_oss_data": 25,
13
+ "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
14
+ "real_r1_pro_sharpa": 27,
15
+ "real_r1_pro_sharpa_add_view": 27,
16
+ "real_r1_pro_sharpa_relative_arm_joint": 26,
17
+ "real_r1_pro_sharpa_delta_eef": 26,
18
+ "real_r1_pro_sharpa_absolute_eef": 26,
19
+ "real_r1_pro_sharpa_meanstd": 26,
20
+ "real_r1_pro_sharpa_relative_eef": 26,
21
+ "real_r1_pro_sharpa_relative_eef_add_view": 26,
22
+ "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
23
+ "real_r1_pro_sharpa_relative_eef_human": 26,
24
+ "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
25
+ "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
26
+ "real_r1_pro_sharpa_relative_eef_egodex": 26,
27
+ "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
28
+ "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
29
+ "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
30
+ "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
31
+ "real_r1_pro_sharpa_relative_eef_mecka": 26,
32
+ "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
33
+ "real_g1_relative_eef_absolute_joints": 25,
34
+ "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
35
+ "real_g1_relative_eef_relative_joints": 25,
36
+ "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
37
+ "real_r1_pro_sharpa_relative_joint": 29,
38
+ "oxe_droid_relative_eef_relative_joint": 24,
39
+ "oxe_droid_relative_eef_relative_joint_swapped": 24,
40
+ "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
41
+ "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
42
+ "oxe_droid_relative_eef_relative_joint_3view": 24,
43
+ "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
44
+ "oxe_droid_relative_eef": 24,
45
+ "oxe_droid_joint_position_relative": 24,
46
+ "xdof_relative_eef_relative_joint": 27,
47
+ "xdof_relative_eef_relative_joint_subtask": 27,
48
+ "xdof_relative_eef": 27,
49
+ "xdof_relative_joint": 28,
50
+ "simpler_env_google": 0,
51
+ "simpler_env_widowx": 1,
52
+ "libero_sim": 2,
53
+ "droid_sim": 3,
54
+ "new_embodiment": 10
55
+ }
model-00001-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a13936afa5a7ec8202fc21945a68b0eac364d1ca5298c0c2b24347677c1bbbb
3
+ size 4990519232
model-00002-of-00002.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac3b1079fe134a701e56229d943c76470247b157cf4c75bf17cd668e3425797c
3
+ size 1919980184
model.safetensors.index.json ADDED
The diff for this file is too large to render. See raw diff
 
processor_config.json ADDED
@@ -0,0 +1,1173 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "processor_class": "Gr00tN1d7Processor",
3
+ "processor_kwargs": {
4
+ "modality_configs": {
5
+ "real_g1_relative_eef_relative_joints": {
6
+ "video": {
7
+ "delta_indices": [
8
+ -20,
9
+ 0
10
+ ],
11
+ "modality_keys": [
12
+ "ego_view"
13
+ ],
14
+ "sin_cos_embedding_keys": null,
15
+ "mean_std_embedding_keys": null,
16
+ "action_configs": null
17
+ },
18
+ "state": {
19
+ "delta_indices": [
20
+ 0
21
+ ],
22
+ "modality_keys": [
23
+ "left_wrist_eef_9d",
24
+ "right_wrist_eef_9d",
25
+ "left_hand",
26
+ "right_hand",
27
+ "left_arm",
28
+ "right_arm",
29
+ "waist"
30
+ ],
31
+ "sin_cos_embedding_keys": null,
32
+ "mean_std_embedding_keys": null,
33
+ "action_configs": null
34
+ },
35
+ "action": {
36
+ "delta_indices": [
37
+ 0,
38
+ 1,
39
+ 2,
40
+ 3,
41
+ 4,
42
+ 5,
43
+ 6,
44
+ 7,
45
+ 8,
46
+ 9,
47
+ 10,
48
+ 11,
49
+ 12,
50
+ 13,
51
+ 14,
52
+ 15,
53
+ 16,
54
+ 17,
55
+ 18,
56
+ 19,
57
+ 20,
58
+ 21,
59
+ 22,
60
+ 23,
61
+ 24,
62
+ 25,
63
+ 26,
64
+ 27,
65
+ 28,
66
+ 29,
67
+ 30,
68
+ 31,
69
+ 32,
70
+ 33,
71
+ 34,
72
+ 35,
73
+ 36,
74
+ 37,
75
+ 38,
76
+ 39
77
+ ],
78
+ "modality_keys": [
79
+ "left_wrist_eef_9d",
80
+ "right_wrist_eef_9d",
81
+ "left_hand",
82
+ "right_hand",
83
+ "left_arm",
84
+ "right_arm",
85
+ "waist",
86
+ "base_height_command",
87
+ "navigate_command"
88
+ ],
89
+ "sin_cos_embedding_keys": null,
90
+ "mean_std_embedding_keys": null,
91
+ "action_configs": [
92
+ {
93
+ "rep": "RELATIVE",
94
+ "type": "EEF",
95
+ "format": "XYZ_ROT6D",
96
+ "state_key": "left_wrist_eef_9d"
97
+ },
98
+ {
99
+ "rep": "RELATIVE",
100
+ "type": "EEF",
101
+ "format": "XYZ_ROT6D",
102
+ "state_key": "right_wrist_eef_9d"
103
+ },
104
+ {
105
+ "rep": "ABSOLUTE",
106
+ "type": "NON_EEF",
107
+ "format": "DEFAULT",
108
+ "state_key": "left_hand"
109
+ },
110
+ {
111
+ "rep": "ABSOLUTE",
112
+ "type": "NON_EEF",
113
+ "format": "DEFAULT",
114
+ "state_key": "right_hand"
115
+ },
116
+ {
117
+ "rep": "RELATIVE",
118
+ "type": "NON_EEF",
119
+ "format": "DEFAULT",
120
+ "state_key": "left_arm"
121
+ },
122
+ {
123
+ "rep": "RELATIVE",
124
+ "type": "NON_EEF",
125
+ "format": "DEFAULT",
126
+ "state_key": "right_arm"
127
+ },
128
+ {
129
+ "rep": "ABSOLUTE",
130
+ "type": "NON_EEF",
131
+ "format": "DEFAULT",
132
+ "state_key": "waist"
133
+ },
134
+ {
135
+ "rep": "ABSOLUTE",
136
+ "type": "NON_EEF",
137
+ "format": "DEFAULT",
138
+ "state_key": "base_height_command"
139
+ },
140
+ {
141
+ "rep": "ABSOLUTE",
142
+ "type": "NON_EEF",
143
+ "format": "DEFAULT",
144
+ "state_key": "navigate_command"
145
+ }
146
+ ]
147
+ },
148
+ "language": {
149
+ "delta_indices": [
150
+ 0
151
+ ],
152
+ "modality_keys": [
153
+ "annotation.human.task_description"
154
+ ],
155
+ "sin_cos_embedding_keys": null,
156
+ "mean_std_embedding_keys": null,
157
+ "action_configs": null
158
+ }
159
+ },
160
+ "real_r1_pro_sharpa_relative_eef_mecka": {
161
+ "video": {
162
+ "delta_indices": [
163
+ -30,
164
+ 0
165
+ ],
166
+ "modality_keys": [
167
+ "ego_view_cropratio_res320x240_freq30"
168
+ ],
169
+ "sin_cos_embedding_keys": null,
170
+ "mean_std_embedding_keys": null,
171
+ "action_configs": null
172
+ },
173
+ "state": {
174
+ "delta_indices": [
175
+ 0
176
+ ],
177
+ "modality_keys": [
178
+ "left_wrist_eef",
179
+ "right_wrist_eef",
180
+ "left_hand_joints",
181
+ "right_hand_joints"
182
+ ],
183
+ "sin_cos_embedding_keys": null,
184
+ "mean_std_embedding_keys": null,
185
+ "action_configs": null
186
+ },
187
+ "action": {
188
+ "delta_indices": [
189
+ 0,
190
+ 1,
191
+ 2,
192
+ 3,
193
+ 4,
194
+ 5,
195
+ 6,
196
+ 7,
197
+ 8,
198
+ 9,
199
+ 10,
200
+ 11,
201
+ 12,
202
+ 13,
203
+ 14,
204
+ 15,
205
+ 16,
206
+ 17,
207
+ 18,
208
+ 19,
209
+ 20,
210
+ 21,
211
+ 22,
212
+ 23,
213
+ 24,
214
+ 25,
215
+ 26,
216
+ 27,
217
+ 28,
218
+ 29,
219
+ 30,
220
+ 31,
221
+ 32,
222
+ 33,
223
+ 34,
224
+ 35,
225
+ 36,
226
+ 37,
227
+ 38,
228
+ 39
229
+ ],
230
+ "modality_keys": [
231
+ "left_wrist_eef",
232
+ "right_wrist_eef",
233
+ "left_hand_joints",
234
+ "right_hand_joints"
235
+ ],
236
+ "sin_cos_embedding_keys": null,
237
+ "mean_std_embedding_keys": null,
238
+ "action_configs": [
239
+ {
240
+ "rep": "RELATIVE",
241
+ "type": "EEF",
242
+ "format": "XYZ_ROT6D",
243
+ "state_key": "left_wrist_eef"
244
+ },
245
+ {
246
+ "rep": "RELATIVE",
247
+ "type": "EEF",
248
+ "format": "XYZ_ROT6D",
249
+ "state_key": "right_wrist_eef"
250
+ },
251
+ {
252
+ "rep": "ABSOLUTE",
253
+ "type": "NON_EEF",
254
+ "format": "DEFAULT",
255
+ "state_key": "left_hand_joints"
256
+ },
257
+ {
258
+ "rep": "ABSOLUTE",
259
+ "type": "NON_EEF",
260
+ "format": "DEFAULT",
261
+ "state_key": "right_hand_joints"
262
+ }
263
+ ]
264
+ },
265
+ "language": {
266
+ "delta_indices": [
267
+ 0
268
+ ],
269
+ "modality_keys": [
270
+ "annotation.human.coarse_action"
271
+ ],
272
+ "sin_cos_embedding_keys": null,
273
+ "mean_std_embedding_keys": null,
274
+ "action_configs": null
275
+ }
276
+ },
277
+ "real_r1_pro_sharpa_relative_eef_human": {
278
+ "video": {
279
+ "delta_indices": [
280
+ -20,
281
+ 0
282
+ ],
283
+ "modality_keys": [
284
+ "ego_view_res320x240_freq20",
285
+ "left_wrist_view_res320x240_freq20",
286
+ "right_wrist_view_res320x240_freq20"
287
+ ],
288
+ "sin_cos_embedding_keys": null,
289
+ "mean_std_embedding_keys": null,
290
+ "action_configs": null
291
+ },
292
+ "state": {
293
+ "delta_indices": [
294
+ 0
295
+ ],
296
+ "modality_keys": [
297
+ "left_wrist_eef",
298
+ "right_wrist_eef",
299
+ "left_hand_joints",
300
+ "right_hand_joints"
301
+ ],
302
+ "sin_cos_embedding_keys": null,
303
+ "mean_std_embedding_keys": null,
304
+ "action_configs": null
305
+ },
306
+ "action": {
307
+ "delta_indices": [
308
+ 0,
309
+ 1,
310
+ 2,
311
+ 3,
312
+ 4,
313
+ 5,
314
+ 6,
315
+ 7,
316
+ 8,
317
+ 9,
318
+ 10,
319
+ 11,
320
+ 12,
321
+ 13,
322
+ 14,
323
+ 15,
324
+ 16,
325
+ 17,
326
+ 18,
327
+ 19,
328
+ 20,
329
+ 21,
330
+ 22,
331
+ 23,
332
+ 24,
333
+ 25,
334
+ 26,
335
+ 27,
336
+ 28,
337
+ 29,
338
+ 30,
339
+ 31,
340
+ 32,
341
+ 33,
342
+ 34,
343
+ 35,
344
+ 36,
345
+ 37,
346
+ 38,
347
+ 39
348
+ ],
349
+ "modality_keys": [
350
+ "left_wrist_eef",
351
+ "right_wrist_eef",
352
+ "left_hand_joints",
353
+ "right_hand_joints"
354
+ ],
355
+ "sin_cos_embedding_keys": null,
356
+ "mean_std_embedding_keys": null,
357
+ "action_configs": [
358
+ {
359
+ "rep": "RELATIVE",
360
+ "type": "EEF",
361
+ "format": "XYZ_ROT6D",
362
+ "state_key": "left_wrist_eef"
363
+ },
364
+ {
365
+ "rep": "RELATIVE",
366
+ "type": "EEF",
367
+ "format": "XYZ_ROT6D",
368
+ "state_key": "right_wrist_eef"
369
+ },
370
+ {
371
+ "rep": "ABSOLUTE",
372
+ "type": "NON_EEF",
373
+ "format": "DEFAULT",
374
+ "state_key": "left_hand_joints"
375
+ },
376
+ {
377
+ "rep": "ABSOLUTE",
378
+ "type": "NON_EEF",
379
+ "format": "DEFAULT",
380
+ "state_key": "right_hand_joints"
381
+ }
382
+ ]
383
+ },
384
+ "language": {
385
+ "delta_indices": [
386
+ 0
387
+ ],
388
+ "modality_keys": [
389
+ "annotation.human.coarse_action"
390
+ ],
391
+ "sin_cos_embedding_keys": null,
392
+ "mean_std_embedding_keys": null,
393
+ "action_configs": null
394
+ }
395
+ },
396
+ "real_r1_pro_sharpa_relative_eef": {
397
+ "video": {
398
+ "delta_indices": [
399
+ -20,
400
+ 0
401
+ ],
402
+ "modality_keys": [
403
+ "ego_view_res320x240_freq20",
404
+ "left_wrist_view_res320x240_freq20",
405
+ "right_wrist_view_res320x240_freq20"
406
+ ],
407
+ "sin_cos_embedding_keys": null,
408
+ "mean_std_embedding_keys": null,
409
+ "action_configs": null
410
+ },
411
+ "state": {
412
+ "delta_indices": [
413
+ 0
414
+ ],
415
+ "modality_keys": [
416
+ "left_wrist_eef",
417
+ "right_wrist_eef",
418
+ "left_hand_joints",
419
+ "right_hand_joints"
420
+ ],
421
+ "sin_cos_embedding_keys": null,
422
+ "mean_std_embedding_keys": null,
423
+ "action_configs": null
424
+ },
425
+ "action": {
426
+ "delta_indices": [
427
+ 0,
428
+ 1,
429
+ 2,
430
+ 3,
431
+ 4,
432
+ 5,
433
+ 6,
434
+ 7,
435
+ 8,
436
+ 9,
437
+ 10,
438
+ 11,
439
+ 12,
440
+ 13,
441
+ 14,
442
+ 15,
443
+ 16,
444
+ 17,
445
+ 18,
446
+ 19,
447
+ 20,
448
+ 21,
449
+ 22,
450
+ 23,
451
+ 24,
452
+ 25,
453
+ 26,
454
+ 27,
455
+ 28,
456
+ 29,
457
+ 30,
458
+ 31,
459
+ 32,
460
+ 33,
461
+ 34,
462
+ 35,
463
+ 36,
464
+ 37,
465
+ 38,
466
+ 39
467
+ ],
468
+ "modality_keys": [
469
+ "left_wrist_eef",
470
+ "right_wrist_eef",
471
+ "left_hand_joints",
472
+ "right_hand_joints"
473
+ ],
474
+ "sin_cos_embedding_keys": null,
475
+ "mean_std_embedding_keys": null,
476
+ "action_configs": [
477
+ {
478
+ "rep": "RELATIVE",
479
+ "type": "EEF",
480
+ "format": "XYZ_ROT6D",
481
+ "state_key": "left_wrist_eef"
482
+ },
483
+ {
484
+ "rep": "RELATIVE",
485
+ "type": "EEF",
486
+ "format": "XYZ_ROT6D",
487
+ "state_key": "right_wrist_eef"
488
+ },
489
+ {
490
+ "rep": "ABSOLUTE",
491
+ "type": "NON_EEF",
492
+ "format": "DEFAULT",
493
+ "state_key": "left_hand_joints"
494
+ },
495
+ {
496
+ "rep": "ABSOLUTE",
497
+ "type": "NON_EEF",
498
+ "format": "DEFAULT",
499
+ "state_key": "right_hand_joints"
500
+ }
501
+ ]
502
+ },
503
+ "language": {
504
+ "delta_indices": [
505
+ 0
506
+ ],
507
+ "modality_keys": [
508
+ "annotation.human.coarse_action"
509
+ ],
510
+ "sin_cos_embedding_keys": null,
511
+ "mean_std_embedding_keys": null,
512
+ "action_configs": null
513
+ }
514
+ },
515
+ "xdof_relative_eef_relative_joint": {
516
+ "video": {
517
+ "delta_indices": [
518
+ -30,
519
+ 0
520
+ ],
521
+ "modality_keys": [
522
+ "top_camera-images-rgb_320_240",
523
+ "left_camera-images-rgb_320_240",
524
+ "right_camera-images-rgb_320_240"
525
+ ],
526
+ "sin_cos_embedding_keys": null,
527
+ "mean_std_embedding_keys": null,
528
+ "action_configs": null
529
+ },
530
+ "state": {
531
+ "delta_indices": [
532
+ 0
533
+ ],
534
+ "modality_keys": [
535
+ "left_wrist_eef",
536
+ "right_wrist_eef",
537
+ "left_gripper_pos",
538
+ "right_gripper_pos",
539
+ "left_joint_pos",
540
+ "right_joint_pos"
541
+ ],
542
+ "sin_cos_embedding_keys": null,
543
+ "mean_std_embedding_keys": null,
544
+ "action_configs": null
545
+ },
546
+ "action": {
547
+ "delta_indices": [
548
+ 0,
549
+ 1,
550
+ 2,
551
+ 3,
552
+ 4,
553
+ 5,
554
+ 6,
555
+ 7,
556
+ 8,
557
+ 9,
558
+ 10,
559
+ 11,
560
+ 12,
561
+ 13,
562
+ 14,
563
+ 15,
564
+ 16,
565
+ 17,
566
+ 18,
567
+ 19,
568
+ 20,
569
+ 21,
570
+ 22,
571
+ 23,
572
+ 24,
573
+ 25,
574
+ 26,
575
+ 27,
576
+ 28,
577
+ 29,
578
+ 30,
579
+ 31,
580
+ 32,
581
+ 33,
582
+ 34,
583
+ 35,
584
+ 36,
585
+ 37,
586
+ 38,
587
+ 39
588
+ ],
589
+ "modality_keys": [
590
+ "left_wrist_eef",
591
+ "right_wrist_eef",
592
+ "left_gripper_pos",
593
+ "right_gripper_pos",
594
+ "left_joint_pos",
595
+ "right_joint_pos"
596
+ ],
597
+ "sin_cos_embedding_keys": null,
598
+ "mean_std_embedding_keys": null,
599
+ "action_configs": [
600
+ {
601
+ "rep": "RELATIVE",
602
+ "type": "EEF",
603
+ "format": "XYZ_ROT6D",
604
+ "state_key": "left_wrist_eef"
605
+ },
606
+ {
607
+ "rep": "RELATIVE",
608
+ "type": "EEF",
609
+ "format": "XYZ_ROT6D",
610
+ "state_key": "right_wrist_eef"
611
+ },
612
+ {
613
+ "rep": "ABSOLUTE",
614
+ "type": "NON_EEF",
615
+ "format": "DEFAULT",
616
+ "state_key": "left_gripper_pos"
617
+ },
618
+ {
619
+ "rep": "ABSOLUTE",
620
+ "type": "NON_EEF",
621
+ "format": "DEFAULT",
622
+ "state_key": "right_gripper_pos"
623
+ },
624
+ {
625
+ "rep": "RELATIVE",
626
+ "type": "NON_EEF",
627
+ "format": "DEFAULT",
628
+ "state_key": "left_joint_pos"
629
+ },
630
+ {
631
+ "rep": "RELATIVE",
632
+ "type": "NON_EEF",
633
+ "format": "DEFAULT",
634
+ "state_key": "right_joint_pos"
635
+ }
636
+ ]
637
+ },
638
+ "language": {
639
+ "delta_indices": [
640
+ 0
641
+ ],
642
+ "modality_keys": [
643
+ "annotation.task"
644
+ ],
645
+ "sin_cos_embedding_keys": null,
646
+ "mean_std_embedding_keys": null,
647
+ "action_configs": null
648
+ }
649
+ },
650
+ "real_r1_pro_sharpa_relative_eef_maxinsights": {
651
+ "video": {
652
+ "delta_indices": [
653
+ -30,
654
+ 0
655
+ ],
656
+ "modality_keys": [
657
+ "ego_view_cropratio_res320x240_freq30"
658
+ ],
659
+ "sin_cos_embedding_keys": null,
660
+ "mean_std_embedding_keys": null,
661
+ "action_configs": null
662
+ },
663
+ "state": {
664
+ "delta_indices": [
665
+ 0
666
+ ],
667
+ "modality_keys": [
668
+ "left_wrist_eef",
669
+ "right_wrist_eef",
670
+ "left_hand_joints",
671
+ "right_hand_joints"
672
+ ],
673
+ "sin_cos_embedding_keys": null,
674
+ "mean_std_embedding_keys": null,
675
+ "action_configs": null
676
+ },
677
+ "action": {
678
+ "delta_indices": [
679
+ 0,
680
+ 1,
681
+ 2,
682
+ 3,
683
+ 4,
684
+ 5,
685
+ 6,
686
+ 7,
687
+ 8,
688
+ 9,
689
+ 10,
690
+ 11,
691
+ 12,
692
+ 13,
693
+ 14,
694
+ 15,
695
+ 16,
696
+ 17,
697
+ 18,
698
+ 19,
699
+ 20,
700
+ 21,
701
+ 22,
702
+ 23,
703
+ 24,
704
+ 25,
705
+ 26,
706
+ 27,
707
+ 28,
708
+ 29,
709
+ 30,
710
+ 31,
711
+ 32,
712
+ 33,
713
+ 34,
714
+ 35,
715
+ 36,
716
+ 37,
717
+ 38,
718
+ 39
719
+ ],
720
+ "modality_keys": [
721
+ "left_wrist_eef",
722
+ "right_wrist_eef",
723
+ "left_hand_joints",
724
+ "right_hand_joints"
725
+ ],
726
+ "sin_cos_embedding_keys": null,
727
+ "mean_std_embedding_keys": null,
728
+ "action_configs": [
729
+ {
730
+ "rep": "RELATIVE",
731
+ "type": "EEF",
732
+ "format": "XYZ_ROT6D",
733
+ "state_key": "left_wrist_eef"
734
+ },
735
+ {
736
+ "rep": "RELATIVE",
737
+ "type": "EEF",
738
+ "format": "XYZ_ROT6D",
739
+ "state_key": "right_wrist_eef"
740
+ },
741
+ {
742
+ "rep": "ABSOLUTE",
743
+ "type": "NON_EEF",
744
+ "format": "DEFAULT",
745
+ "state_key": "left_hand_joints"
746
+ },
747
+ {
748
+ "rep": "ABSOLUTE",
749
+ "type": "NON_EEF",
750
+ "format": "DEFAULT",
751
+ "state_key": "right_hand_joints"
752
+ }
753
+ ]
754
+ },
755
+ "language": {
756
+ "delta_indices": [
757
+ 0
758
+ ],
759
+ "modality_keys": [
760
+ "annotation.human.coarse_action"
761
+ ],
762
+ "sin_cos_embedding_keys": null,
763
+ "mean_std_embedding_keys": null,
764
+ "action_configs": null
765
+ }
766
+ },
767
+ "xdof_relative_eef_relative_joint_subtask": {
768
+ "video": {
769
+ "delta_indices": [
770
+ -30,
771
+ 0
772
+ ],
773
+ "modality_keys": [
774
+ "top_camera-images-rgb_320_240",
775
+ "left_camera-images-rgb_320_240",
776
+ "right_camera-images-rgb_320_240"
777
+ ],
778
+ "sin_cos_embedding_keys": null,
779
+ "mean_std_embedding_keys": null,
780
+ "action_configs": null
781
+ },
782
+ "state": {
783
+ "delta_indices": [
784
+ 0
785
+ ],
786
+ "modality_keys": [
787
+ "left_wrist_eef",
788
+ "right_wrist_eef",
789
+ "left_gripper_pos",
790
+ "right_gripper_pos",
791
+ "left_joint_pos",
792
+ "right_joint_pos"
793
+ ],
794
+ "sin_cos_embedding_keys": null,
795
+ "mean_std_embedding_keys": null,
796
+ "action_configs": null
797
+ },
798
+ "action": {
799
+ "delta_indices": [
800
+ 0,
801
+ 1,
802
+ 2,
803
+ 3,
804
+ 4,
805
+ 5,
806
+ 6,
807
+ 7,
808
+ 8,
809
+ 9,
810
+ 10,
811
+ 11,
812
+ 12,
813
+ 13,
814
+ 14,
815
+ 15,
816
+ 16,
817
+ 17,
818
+ 18,
819
+ 19,
820
+ 20,
821
+ 21,
822
+ 22,
823
+ 23,
824
+ 24,
825
+ 25,
826
+ 26,
827
+ 27,
828
+ 28,
829
+ 29,
830
+ 30,
831
+ 31,
832
+ 32,
833
+ 33,
834
+ 34,
835
+ 35,
836
+ 36,
837
+ 37,
838
+ 38,
839
+ 39
840
+ ],
841
+ "modality_keys": [
842
+ "left_wrist_eef",
843
+ "right_wrist_eef",
844
+ "left_gripper_pos",
845
+ "right_gripper_pos",
846
+ "left_joint_pos",
847
+ "right_joint_pos"
848
+ ],
849
+ "sin_cos_embedding_keys": null,
850
+ "mean_std_embedding_keys": null,
851
+ "action_configs": [
852
+ {
853
+ "rep": "RELATIVE",
854
+ "type": "EEF",
855
+ "format": "XYZ_ROT6D",
856
+ "state_key": "left_wrist_eef"
857
+ },
858
+ {
859
+ "rep": "RELATIVE",
860
+ "type": "EEF",
861
+ "format": "XYZ_ROT6D",
862
+ "state_key": "right_wrist_eef"
863
+ },
864
+ {
865
+ "rep": "ABSOLUTE",
866
+ "type": "NON_EEF",
867
+ "format": "DEFAULT",
868
+ "state_key": "left_gripper_pos"
869
+ },
870
+ {
871
+ "rep": "ABSOLUTE",
872
+ "type": "NON_EEF",
873
+ "format": "DEFAULT",
874
+ "state_key": "right_gripper_pos"
875
+ },
876
+ {
877
+ "rep": "RELATIVE",
878
+ "type": "NON_EEF",
879
+ "format": "DEFAULT",
880
+ "state_key": "left_joint_pos"
881
+ },
882
+ {
883
+ "rep": "RELATIVE",
884
+ "type": "NON_EEF",
885
+ "format": "DEFAULT",
886
+ "state_key": "right_joint_pos"
887
+ }
888
+ ]
889
+ },
890
+ "language": {
891
+ "delta_indices": [
892
+ 0
893
+ ],
894
+ "modality_keys": [
895
+ "annotation.sub_task"
896
+ ],
897
+ "sin_cos_embedding_keys": null,
898
+ "mean_std_embedding_keys": null,
899
+ "action_configs": null
900
+ }
901
+ },
902
+ "oxe_droid_relative_eef_relative_joint": {
903
+ "video": {
904
+ "delta_indices": [
905
+ -15,
906
+ 0
907
+ ],
908
+ "modality_keys": [
909
+ "exterior_image_1_left",
910
+ "wrist_image_left"
911
+ ],
912
+ "sin_cos_embedding_keys": null,
913
+ "mean_std_embedding_keys": null,
914
+ "action_configs": null
915
+ },
916
+ "state": {
917
+ "delta_indices": [
918
+ 0
919
+ ],
920
+ "modality_keys": [
921
+ "eef_9d",
922
+ "gripper_position",
923
+ "joint_position"
924
+ ],
925
+ "sin_cos_embedding_keys": null,
926
+ "mean_std_embedding_keys": null,
927
+ "action_configs": null
928
+ },
929
+ "action": {
930
+ "delta_indices": [
931
+ 0,
932
+ 1,
933
+ 2,
934
+ 3,
935
+ 4,
936
+ 5,
937
+ 6,
938
+ 7,
939
+ 8,
940
+ 9,
941
+ 10,
942
+ 11,
943
+ 12,
944
+ 13,
945
+ 14,
946
+ 15,
947
+ 16,
948
+ 17,
949
+ 18,
950
+ 19,
951
+ 20,
952
+ 21,
953
+ 22,
954
+ 23,
955
+ 24,
956
+ 25,
957
+ 26,
958
+ 27,
959
+ 28,
960
+ 29,
961
+ 30,
962
+ 31,
963
+ 32,
964
+ 33,
965
+ 34,
966
+ 35,
967
+ 36,
968
+ 37,
969
+ 38,
970
+ 39
971
+ ],
972
+ "modality_keys": [
973
+ "eef_9d",
974
+ "gripper_position",
975
+ "joint_position"
976
+ ],
977
+ "sin_cos_embedding_keys": null,
978
+ "mean_std_embedding_keys": null,
979
+ "action_configs": [
980
+ {
981
+ "rep": "RELATIVE",
982
+ "type": "EEF",
983
+ "format": "XYZ_ROT6D",
984
+ "state_key": "eef_9d"
985
+ },
986
+ {
987
+ "rep": "ABSOLUTE",
988
+ "type": "NON_EEF",
989
+ "format": "DEFAULT",
990
+ "state_key": "gripper_position"
991
+ },
992
+ {
993
+ "rep": "RELATIVE",
994
+ "type": "NON_EEF",
995
+ "format": "DEFAULT",
996
+ "state_key": "joint_position"
997
+ }
998
+ ]
999
+ },
1000
+ "language": {
1001
+ "delta_indices": [
1002
+ 0
1003
+ ],
1004
+ "modality_keys": [
1005
+ "annotation.language.language_instruction"
1006
+ ],
1007
+ "sin_cos_embedding_keys": null,
1008
+ "mean_std_embedding_keys": null,
1009
+ "action_configs": null
1010
+ }
1011
+ },
1012
+ "new_embodiment": {
1013
+ "video": {
1014
+ "delta_indices": [
1015
+ 0
1016
+ ],
1017
+ "modality_keys": [
1018
+ "ego_view"
1019
+ ],
1020
+ "sin_cos_embedding_keys": null,
1021
+ "mean_std_embedding_keys": null,
1022
+ "action_configs": null
1023
+ },
1024
+ "state": {
1025
+ "delta_indices": [
1026
+ 0
1027
+ ],
1028
+ "modality_keys": [
1029
+ "left_leg",
1030
+ "right_leg",
1031
+ "waist",
1032
+ "left_arm",
1033
+ "left_hand",
1034
+ "right_arm",
1035
+ "right_hand",
1036
+ "left_wrist_pos",
1037
+ "left_wrist_abs_quat",
1038
+ "right_wrist_pos",
1039
+ "right_wrist_abs_quat",
1040
+ "root_orientation",
1041
+ "projected_gravity",
1042
+ "cpp_rotation_offset",
1043
+ "init_base_quat"
1044
+ ],
1045
+ "sin_cos_embedding_keys": null,
1046
+ "mean_std_embedding_keys": null,
1047
+ "action_configs": null
1048
+ },
1049
+ "action": {
1050
+ "delta_indices": [
1051
+ 0,
1052
+ 1,
1053
+ 2,
1054
+ 3,
1055
+ 4,
1056
+ 5,
1057
+ 6,
1058
+ 7,
1059
+ 8,
1060
+ 9,
1061
+ 10,
1062
+ 11,
1063
+ 12,
1064
+ 13,
1065
+ 14,
1066
+ 15,
1067
+ 16,
1068
+ 17,
1069
+ 18,
1070
+ 19,
1071
+ 20,
1072
+ 21,
1073
+ 22,
1074
+ 23,
1075
+ 24,
1076
+ 25,
1077
+ 26,
1078
+ 27,
1079
+ 28,
1080
+ 29,
1081
+ 30,
1082
+ 31,
1083
+ 32,
1084
+ 33,
1085
+ 34,
1086
+ 35,
1087
+ 36,
1088
+ 37,
1089
+ 38,
1090
+ 39
1091
+ ],
1092
+ "modality_keys": [
1093
+ "motion_token",
1094
+ "left_hand_joints",
1095
+ "right_hand_joints",
1096
+ "body_quat_w"
1097
+ ],
1098
+ "sin_cos_embedding_keys": null,
1099
+ "mean_std_embedding_keys": null,
1100
+ "action_configs": [
1101
+ {
1102
+ "rep": "ABSOLUTE",
1103
+ "type": "NON_EEF",
1104
+ "format": "DEFAULT",
1105
+ "state_key": null
1106
+ },
1107
+ {
1108
+ "rep": "ABSOLUTE",
1109
+ "type": "NON_EEF",
1110
+ "format": "DEFAULT",
1111
+ "state_key": null
1112
+ },
1113
+ {
1114
+ "rep": "ABSOLUTE",
1115
+ "type": "NON_EEF",
1116
+ "format": "DEFAULT",
1117
+ "state_key": null
1118
+ },
1119
+ {
1120
+ "rep": "ABSOLUTE",
1121
+ "type": "NON_EEF",
1122
+ "format": "DEFAULT",
1123
+ "state_key": null
1124
+ }
1125
+ ]
1126
+ },
1127
+ "language": {
1128
+ "delta_indices": [
1129
+ 0
1130
+ ],
1131
+ "modality_keys": [
1132
+ "annotation.human.task_description"
1133
+ ],
1134
+ "sin_cos_embedding_keys": null,
1135
+ "mean_std_embedding_keys": null,
1136
+ "action_configs": null
1137
+ }
1138
+ }
1139
+ },
1140
+ "image_crop_size": [
1141
+ 230,
1142
+ 230
1143
+ ],
1144
+ "image_target_size": [
1145
+ 256,
1146
+ 256
1147
+ ],
1148
+ "use_albumentations": true,
1149
+ "random_rotation_angle": 0,
1150
+ "color_jitter_params": {
1151
+ "brightness": 0.3,
1152
+ "contrast": 0.4,
1153
+ "saturation": 0.5,
1154
+ "hue": 0.08
1155
+ },
1156
+ "shortest_image_edge": 256,
1157
+ "crop_fraction": 0.95,
1158
+ "letter_box_transform": false,
1159
+ "model_name": "nvidia/Cosmos-Reason2-2B",
1160
+ "model_type": "qwen",
1161
+ "formalize_language": true,
1162
+ "max_state_dim": 132,
1163
+ "max_action_dim": 132,
1164
+ "max_action_horizon": 40,
1165
+ "use_percentiles": true,
1166
+ "use_mean_std": false,
1167
+ "clip_outliers": true,
1168
+ "apply_sincos_state_encoding": false,
1169
+ "use_relative_action": true,
1170
+ "exclude_state": false,
1171
+ "state_dropout_prob": 0.2
1172
+ }
1173
+ }
statistics.json ADDED
The diff for this file is too large to render. See raw diff
 
training_args.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d5c1894108f7922688c157abb00183b64ce0c759fbed72578b309202853f2dea
3
+ size 7697