Publish Balance GR00T zero-latency policy
Browse files- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/config.json +91 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/embodiment_id.json +57 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model-00001-of-00002.safetensors +3 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model-00002-of-00002.safetensors +3 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model.safetensors.index.json +0 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/processor_config.json +131 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/statistics.json +1483 -0
- zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/zero-latency-eval.json +34 -0
zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/config.json
ADDED
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{
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"action_head_dropout": 0.0,
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"action_horizon": 40,
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"add_pos_embed": true,
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"apply_sincos_state_encoding": false,
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"architectures": [
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"Gr00tN1d7"
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],
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"attn_dropout": 0.2,
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"attn_implementation": null,
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"backbone_embedding_dim": 2048,
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"backbone_trainable_params_fp32": false,
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"color_jitter_params": {
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"brightness": 0.3,
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"contrast": 0.4,
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"hue": 0.08,
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"saturation": 0.5
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},
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"crop_fraction": 0.95,
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"diffusion_model_cfg": {
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"attention_head_dim": 48,
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"dropout": 0.0,
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"final_dropout": false,
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"interleave_self_attention": true,
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"norm_type": "ada_norm",
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"num_attention_heads": 32,
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"num_layers": 32,
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"output_dim": 1024,
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"positional_embeddings": null
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},
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"dtype": "bfloat16",
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"exclude_state": false,
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"fixed_action_noise_seed": 0,
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"formalize_language": true,
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"hidden_size": 1024,
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"image_crop_size": [
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230,
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230
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],
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"image_target_size": [
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256,
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256
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],
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"letter_box_transform": false,
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| 45 |
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"load_bf16": true,
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"max_action_dim": 132,
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| 47 |
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"max_num_embodiments": 32,
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| 48 |
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"max_seq_len": 1024,
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| 49 |
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"max_state_dim": 198,
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| 50 |
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"model_dtype": "bfloat16",
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| 51 |
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"model_name": "nvidia/Cosmos-Reason2-2B",
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| 52 |
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"model_type": "Gr00tN1d7",
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| 53 |
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"noise_beta_alpha": 1.5,
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| 54 |
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"noise_beta_beta": 1.0,
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| 55 |
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"noise_s": 0.999,
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"num_inference_timesteps": 4,
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| 57 |
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"num_timestep_buckets": 1000,
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| 58 |
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"one_step_action_regression": true,
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| 59 |
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"random_history_crop": true,
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| 60 |
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"random_rotation_angle": 0,
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| 61 |
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"reproject_vision": false,
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| 62 |
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"rtc_ramp_rate": 6.0,
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| 63 |
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"select_layer": 16,
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| 64 |
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"shortest_image_edge": 256,
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| 65 |
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"state_dropout_prob": 0.0,
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| 66 |
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"state_gaussian_noise_std": 0.0,
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| 67 |
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"transformers_version": "4.57.3",
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| 68 |
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"tune_diffusion_model": true,
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| 69 |
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"tune_linear": true,
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| 70 |
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"tune_llm": false,
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| 71 |
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"tune_projector": true,
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| 72 |
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"tune_top_llm_layers": 0,
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| 73 |
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"tune_visual": true,
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| 74 |
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"tune_vlln": true,
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| 75 |
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"use_albumentations": true,
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| 76 |
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"use_alternate_vl_dit": true,
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| 77 |
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"use_flash_attention": true,
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| 78 |
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"use_future_tokens": false,
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| 79 |
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"use_mean_std": false,
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| 80 |
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"use_percentiles": true,
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| 81 |
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"use_vl_self_attention": true,
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| 82 |
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"use_vlln": true,
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| 83 |
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"vl_self_attention_cfg": {
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| 84 |
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"attention_head_dim": 64,
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| 85 |
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"dropout": 0.2,
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| 86 |
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"final_dropout": true,
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| 87 |
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"num_attention_heads": 32,
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| 88 |
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"num_layers": 4,
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| 89 |
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"positional_embeddings": null
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| 90 |
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}
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| 91 |
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}
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zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/embodiment_id.json
ADDED
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@@ -0,0 +1,57 @@
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{
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| 2 |
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"robocasa_panda_omron": 13,
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| 3 |
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"oxe_droid": 17,
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| 4 |
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"oxe_fractal": 18,
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| 5 |
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"oxe_language_table": 19,
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| 6 |
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"oxe_bridge": 20,
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| 7 |
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"unknown": 22,
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| 8 |
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"gr1_unified": 20,
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| 9 |
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"agibot": 26,
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| 10 |
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"sim_behavior_r1_pro": 23,
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| 11 |
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"xdof": 24,
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| 12 |
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"xdof_oss_data": 25,
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| 13 |
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"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
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| 14 |
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"real_r1_pro_sharpa": 27,
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| 15 |
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"real_r1_pro_sharpa_add_view": 27,
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| 16 |
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"real_r1_pro_sharpa_relative_arm_joint": 26,
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| 17 |
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"real_r1_pro_sharpa_delta_eef": 26,
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| 18 |
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"real_r1_pro_sharpa_absolute_eef": 26,
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| 19 |
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"real_r1_pro_sharpa_meanstd": 26,
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| 20 |
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"real_r1_pro_sharpa_relative_eef": 26,
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| 21 |
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"real_r1_pro_sharpa_relative_eef_add_view": 26,
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| 22 |
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"real_r1_pro_sharpa_relative_eef_relative_hand": 26,
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| 23 |
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"real_r1_pro_sharpa_relative_eef_human": 26,
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| 24 |
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"real_r1_pro_sharpa_relative_eef_human_add_view": 26,
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| 25 |
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"real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
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| 26 |
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"real_r1_pro_sharpa_relative_eef_egodex": 26,
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| 27 |
+
"real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
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| 28 |
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"real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
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| 29 |
+
"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
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| 30 |
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"real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
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| 31 |
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"real_r1_pro_sharpa_relative_eef_mecka": 26,
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| 32 |
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"real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
|
| 33 |
+
"real_g1_relative_eef_absolute_joints": 25,
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| 34 |
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"real_g1_relative_eef_absolute_joints_wrist_cam": 25,
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| 35 |
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"real_g1_relative_eef_relative_joints": 25,
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| 36 |
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"real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
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| 37 |
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"real_r1_pro_sharpa_relative_joint": 29,
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| 38 |
+
"oxe_droid_relative_eef_relative_joint": 24,
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| 39 |
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"oxe_droid_relative_eef_relative_joint_swapped": 24,
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| 40 |
+
"oxe_droid_relative_eef_relative_joint_upweight_z": 24,
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| 41 |
+
"oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
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| 42 |
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"oxe_droid_relative_eef_relative_joint_3view": 24,
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| 43 |
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"oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
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| 44 |
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"oxe_droid_relative_eef": 24,
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| 45 |
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"oxe_droid_joint_position_relative": 24,
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| 46 |
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"xdof_relative_eef_relative_joint": 27,
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| 47 |
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"xdof_relative_eef_relative_joint_subtask": 27,
|
| 48 |
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"xdof_relative_eef": 27,
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| 49 |
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"xdof_relative_joint": 28,
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| 50 |
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"simpler_env_google": 0,
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| 51 |
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"simpler_env_widowx": 1,
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| 52 |
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"libero_sim": 2,
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| 53 |
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"droid_sim": 3,
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| 54 |
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"robocasa_gr1_tabletop": 10,
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| 55 |
+
"new_embodiment": 10,
|
| 56 |
+
"unitree_g1_sonic": 11
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| 57 |
+
}
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zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model-00001-of-00002.safetensors
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:9e3a4299d5b17a53ede57d1d3a3f6df24c0c4f2529dd043c9f1f25583493efc3
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| 3 |
+
size 4990519232
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zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model-00002-of-00002.safetensors
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6203752ba32cb79f000756dc369c6ae4bf352c3180605d738e95865514b3fd87
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| 3 |
+
size 1924305560
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zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/model.safetensors.index.json
ADDED
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The diff for this file is too large to render.
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zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/processor_config.json
ADDED
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{
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| 2 |
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"processor_class": "Gr00tN1d7Processor",
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| 3 |
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"processor_kwargs": {
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| 4 |
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"modality_configs": {
|
| 5 |
+
"new_embodiment": {
|
| 6 |
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"video": {
|
| 7 |
+
"delta_indices": [
|
| 8 |
+
0
|
| 9 |
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],
|
| 10 |
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"modality_keys": [
|
| 11 |
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"ego_view"
|
| 12 |
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],
|
| 13 |
+
"sin_cos_embedding_keys": null,
|
| 14 |
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"mean_std_embedding_keys": null,
|
| 15 |
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"action_configs": null
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| 16 |
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},
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| 17 |
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"state": {
|
| 18 |
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"delta_indices": [
|
| 19 |
+
0
|
| 20 |
+
],
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| 21 |
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"modality_keys": [
|
| 22 |
+
"state"
|
| 23 |
+
],
|
| 24 |
+
"sin_cos_embedding_keys": null,
|
| 25 |
+
"mean_std_embedding_keys": null,
|
| 26 |
+
"action_configs": null
|
| 27 |
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},
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| 28 |
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"action": {
|
| 29 |
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"delta_indices": [
|
| 30 |
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| 31 |
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| 58 |
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| 60 |
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{
|
| 78 |
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|
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|
| 81 |
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|
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|
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|
| 84 |
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| 85 |
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|
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|
| 87 |
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|
| 88 |
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|
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|
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
| 101 |
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|
| 105 |
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|
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|
| 107 |
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|
| 108 |
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"color_jitter_params": {
|
| 109 |
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|
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|
| 111 |
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|
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
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|
| 128 |
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|
| 129 |
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|
| 130 |
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}
|
| 131 |
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}
|
zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/statistics.json
ADDED
|
@@ -0,0 +1,1483 @@
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| 1 |
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{
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| 1475 |
+
0.005142203788273025,
|
| 1476 |
+
0.015288262981921076,
|
| 1477 |
+
0.0005331666435813495
|
| 1478 |
+
]
|
| 1479 |
+
}
|
| 1480 |
+
},
|
| 1481 |
+
"relative_action": {}
|
| 1482 |
+
}
|
| 1483 |
+
}
|
zero-latency/humanoidbench-balance-simple/vla/gr00t-n1.7-10k-v1/zero-latency-eval.json
ADDED
|
@@ -0,0 +1,34 @@
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|
| 1 |
+
{
|
| 2 |
+
"experiment_name": "balance_simple_gr00t_step10000",
|
| 3 |
+
"latency": 0,
|
| 4 |
+
"latency_type": "zero",
|
| 5 |
+
"lengths": [
|
| 6 |
+
292,
|
| 7 |
+
395,
|
| 8 |
+
479,
|
| 9 |
+
626,
|
| 10 |
+
161,
|
| 11 |
+
249,
|
| 12 |
+
473,
|
| 13 |
+
459,
|
| 14 |
+
347,
|
| 15 |
+
229
|
| 16 |
+
],
|
| 17 |
+
"mean_length": 371.0,
|
| 18 |
+
"mean_return": 353.5316520769987,
|
| 19 |
+
"returns": [
|
| 20 |
+
275.8224209409707,
|
| 21 |
+
382.1931019732288,
|
| 22 |
+
454.33208253242077,
|
| 23 |
+
608.0099758099065,
|
| 24 |
+
143.8873264826523,
|
| 25 |
+
232.2776751288021,
|
| 26 |
+
454.8820982998961,
|
| 27 |
+
439.55401355146773,
|
| 28 |
+
331.6358017885277,
|
| 29 |
+
212.7220242621142
|
| 30 |
+
],
|
| 31 |
+
"seed": 0,
|
| 32 |
+
"std_return": 133.570938714948,
|
| 33 |
+
"timestamp_utc": "2026-08-29T20:11:17.482349+00:00"
|
| 34 |
+
}
|