Download InternW0-Base.transfer.json from InternRobotics/InternW0-Base: direct link, hf CLI and curl.
- Browser
- Download file 307 kB
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https://huggingface.co/InternRobotics/InternW0-Base/resolve/main/InternW0-Base.transfer.json
- Command line
-
hf download hf://InternRobotics/InternW0-Base/InternW0-Base.transfer.json
-
curl -L -o InternW0-Base.transfer.json https://huggingface.co/InternRobotics/InternW0-Base/resolve/main/InternW0-Base.transfer.json
307 kB
| { | |
| "provenance": { | |
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| "global_step": 30000, | |
| "domain_names": [ | |
| "interndata/franka_panda", | |
| "interndata/franka_robotiq85", | |
| "interndata/genie1", | |
| "interndata/lift2", | |
| "interndata/split_aloha", | |
| "interndata/acone", | |
| "agibotworld/g1_gripper", | |
| "galaxea/r1lite", | |
| "ebench/lift2_long_horizon", | |
| "robodojo/dual_arx_x5", | |
| "robomind/agilex", | |
| "robomind/franka", | |
| "robomind/franka_fr3_dual", | |
| "robomind/ur", | |
| "robocoin/agibot_g1_profile5", | |
| "robocoin/agibot_g1_profile6", | |
| "robocoin/cobot_magic_profile7", | |
| "robocoin/galbot_g1", | |
| "robocoin/r1lite", | |
| "robocoin/rmc_aida_l", | |
| "robocoin/split_aloha_profile20", | |
| "robocoin/tianqin_a2", | |
| "agibotworld/g1_tactile", | |
| "ebench/lift2_simple_pnp", | |
| "ebench/lift2_teleop_tasks", | |
| "robocoin/cobot_magic_profile8", | |
| "robocoin/cobot_magic_profile9", | |
| "robocoin/cobot_magic_profile10", | |
| "robocoin/cobot_magic_profile11", | |
| "robocoin/split_aloha_profile21" | |
| ], | |
| "source_format": "rlh-fastwam-canonical-2", | |
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| "strategy": "new_domain", | |
| "seed": 42, | |
| "proprio_init": "new_domain", | |
| "proprio_source_domain": null | |
| }, | |
| "behavior": { | |
| "schema_version": 4, | |
| "num_soft_prompts": 8, | |
| "domain_configs": [ | |
| { | |
| "name": "robotwin_wam/aloha", | |
| "dataset": "robotwin_wam", | |
| "embodiment": "aloha", | |
| "action_dim": 37, | |
| "proprio_dim": 37, | |
| "action_valid_indices": [ | |
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| 33 | |
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| 33 | |
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| "raw_joint_names": [ | |
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| "left_shoulder", | |
| "left_elbow", | |
| "left_forearm_roll", | |
| "left_wrist_angle", | |
| "left_wrist_rotate", | |
| "left_gripper", | |
| "right_waist", | |
| "right_shoulder", | |
| "right_elbow", | |
| "right_forearm_roll", | |
| "right_wrist_angle", | |
| "right_wrist_rotate", | |
| "right_gripper" | |
| ], | |
| "action_semantics": "native_absolute_joint_command_interval_end" | |
| } | |
| ], | |
| "soft_prompt_domains": [ | |
| "robotwin_wam/aloha" | |
| ], | |
| "soft_prompt_layout": "per_chunk_prefix", | |
| "soft_prompt_position_mode": "identity_rope", | |
| "soft_prompt_timestep_mode": "follow_chunk", | |
| "observation_encoder": "dino", | |
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| "model_name": "dinov3-vitb16-hf", | |
| "weights_sha256": "1bde6e2cbdb2973afa32f8b000da32c7686c5be6d8e82399ac581f9bb35a1e50", | |
| "input_resolution": [ | |
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| 320 | |
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| "feature_dim": 768, | |
| "patch_size": 16, | |
| "use_cls_token": false, | |
| "normalize_features": false, | |
| "preprocessing": "uint8_or_minus_one_one_to_imagenet_float32_no_resize", | |
| "weights_hash_format": "hf_config_and_safetensors_v1" | |
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| "architecture": "ahawam_one_way_ovcr", | |
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| "video_cache_mode": "generated_future_last_denoise", | |
| "action_position_unit": "action_step", | |
| "video_rope_position_unit": "latent_frame", | |
| "action_horizon": 64, | |
| "action_chunk_size": 16, | |
| "num_history_frames": 0, | |
| "video_rope_frame_stride": null, | |
| "video_attention_mask_mode": "first_frame_causal", | |
| "video_action_conditioned": false, | |
| "autoregressive_teacher_forcing": true, | |
| "action_teacher_forcing_mask_mode": "stage1_chunkwise", | |
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