EgoForesight-RoboTwin / validation.json
LinShan's picture
Upload folder using huggingface_hub
f51d8d6 verified
Raw History Blame Contribute Delete
3.54 kB
{
"strict_native_load": true,
"public_code_import_isolation": true,
"checked_module_count": 42,
"action_space_equivalent_to_source": true,
"normalization_adapter_constructed": true,
"execution_mode": "eef",
"eef_representation": "absolute",
"absolute_eef_decode_shape": [
1,
48,
14
],
"sample_source": "three existing trusted RoboTwin dataset audit samples; not redistributed",
"sample_preprocessing": "Current composite images retained; joint states inverted using the audit statistics and renormalized by the native deployment adapter with this checkpoint statistics. Prompts generated with native training_prompt for absolute camera-frame EEF control.",
"samples": [
{
"normalized_actions": {
"shape": [
1,
48,
130
],
"max_abs_difference": 0.0,
"sha256": "4d7c058843d407789db6e1e944e1a29c24bc7f3c3418c7d162785472d16d0849"
},
"predicted_future_vision": {
"shape": [
1,
120,
768
],
"max_abs_difference": 0.0,
"sha256": "8329b54c77af24573c43f36eec57c379d7b8b1f0478ab6bdd3672e5240fc47de"
},
"absolute_actions": {
"shape": [
1,
48,
14
],
"max_abs_difference": 0.0,
"sha256": "26a8985e7236305e494e9797ac2e31bfee4fe9ad372bde333c4592286cc43d7d"
}
},
{
"normalized_actions": {
"shape": [
1,
48,
130
],
"max_abs_difference": 0.0,
"sha256": "0f10002fa7ad384ace3f540b94cc2bb3c3bb712be860fa378e87edb950659814"
},
"predicted_future_vision": {
"shape": [
1,
120,
768
],
"max_abs_difference": 0.0,
"sha256": "8af1b085039cb31d2b2ff6319f94240ec64c747c4df88ea4090cca98ebc37013"
},
"absolute_actions": {
"shape": [
1,
48,
14
],
"max_abs_difference": 0.0,
"sha256": "0a9e27861bec7bc27a3235aa5e1fec9742fbe5c36bc1a2c8bf06e9aec08c2b6d"
}
},
{
"normalized_actions": {
"shape": [
1,
48,
130
],
"max_abs_difference": 0.0,
"sha256": "176c41178fa655bfa5548a83d8b7b3154ad36d22c56442f57a15c0ae0a536f9a"
},
"predicted_future_vision": {
"shape": [
1,
120,
768
],
"max_abs_difference": 0.0,
"sha256": "87edf658f8b734a2577b05fa1c7787d2c183e0ee8484b1082ffee543d6223da3"
},
"absolute_actions": {
"shape": [
1,
48,
14
],
"max_abs_difference": 0.0,
"sha256": "9a4e7fb652da3cbecb358794b49ad424399579b5738a42b3b3675c3265e5c2f9"
}
}
],
"reference": "original online checkpoint plus native apply_teacher(foresight_forcing)",
"ema_tensors": 711,
"inference_steps": 4,
"inference_dtype": "bfloat16",
"seeds": [
42,
43,
44
],
"gpu": "NVIDIA H20D",
"torch": "2.8.0+cu128",
"simulator_rollouts": false,
"packaging": {
"date": "2026-10-21",
"checkpoint_sha256": "9c773a96d5fc4f4afea681b7f3a15e71ab4e65a95c454f9a46c31f8f8a36571b",
"checkpoint_bytes_unchanged": true,
"dataset_statistics_sha256": "b16362828f582bd92535602a7b09adc947ef2952d04cbad033dcde454b386a72",
"dataset_statistics_bytes_unchanged": true,
"new_inference_or_training_run": false,
"configuration_architecture_preserved": true
}
}