Publish audited ActionCodec2 release files

variants/paper-1st/profiles/joint/processor_config.json

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+{
+  "processor_class": "ActionCodec2Processor"
+}

variants/paper-1st/router_config.yaml

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+model_type: actioncodec2_router
+config_version: 3
+profiles:
+- name: joint
+  token_offset: 0
+  token_budget: 4096
+  artifact_fingerprint: c403e3ec6b902f15b0609981d80298b66c1e0131cc6d1b093d01e058994c3e5f
+- name: eef
+  token_offset: 4096
+  token_budget: 4096
+  artifact_fingerprint: 675e63c92503c55c0ea122df543da55be47c7c2cc69293c359a3e6cca9ea897b
+presets:
+- name: single_eef_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: eef
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_joint6_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_joint7_abs
+  input_dim: 8
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      gripper_dim: 7
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_eef_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: eef
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_joint6_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_joint7_delta
+  input_dim: 8
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      gripper_dim: 7
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_eef_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: eef
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: eef
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_joint6_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: joint
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      gripper_dim: 13
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_joint7_abs
+  input_dim: 16
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      gripper_dim: 7
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: joint
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      gripper_dim: 15
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_eef_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: eef
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: eef
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_joint6_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      gripper_dim: 6
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: joint
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      gripper_dim: 13
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: dual_joint7_delta
+  input_dim: 16
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    left_arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      gripper_dim: 7
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+    right_arm:
+      space: joint
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      gripper_dim: 15
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+- name: single_joint6_abs_continuous_gripper
+  input_dim: 6
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5

variants/paper-2nd/config.json

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+{
+  "model_type": "actioncodec2",
+  "processor_class": "ActionCodec2"
+}

variants/paper-2nd/processor_config.json

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+{
+  "processor_class": "ActionCodec2",
+  "action_space": "single_eef_delta",
+  "fitted_profiles": [
+    "eef",
+    "joint"
+  ],
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/paper-2nd/profiles/eef/config.json

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+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/paper-2nd/profiles/eef/config.yaml

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+model_type: actioncodec2_unified
+config_version: 1
+physical:
+  input_dim: 7
+  components:
+    translation_m:
+      dims:
+        start: 0
+        stop: 3
+      space: additive
+      input_order: 0
+      primitive_order: 2
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -2.0
+          max: 2.0
+        order_2:
+          min: -0.025
+          max: 0.025
+        order_1:
+          min: -0.08
+          max: 0.08
+      distortion_limit: 0.005
+      primitive_selection: smooth
+    orientation_so3:
+      dims:
+        start: 3
+        stop: 6
+      space: so3
+      input_order: 0
+      primitive_order: 2
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -3.141592653589793
+          max: 3.141592653589793
+        order_2:
+          min: -0.08
+          max: 0.08
+        order_1:
+          min: -0.25
+          max: 0.25
+      distortion_limit: 0.02
+      primitive_selection: smooth
+      representation: rotation_vector
+      multiplication: right
+    gripper_open_command:
+      dims:
+      - 6
+      space: additive
+      input_order: 0
+      primitive_order: 0
+      input_transform:
+        scale: 1.0
+        clip: true
+      constraints:
+        order_0:
+          min: 0.0
+          max: 1.0
+      distortion_limit: 0.5
+      primitive_selection: nearest
+set_bpe:
+  lookahead: 8
+  allow_cross_component_merge: false
+train:
+  primitives:
+    zero_primitive_components:
+    - translation_m
+    - orientation_so3
+  bpe:
+    spatial_vocab_size: 2048
+    vocab_size: 4096
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2

variants/paper-2nd/profiles/eef/primitives.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9da1d7bf2a81745a57f36cce40b9cd7487e46329552c1d71e4332a2ebad7a537
+size 2414

variants/paper-2nd/profiles/eef/processor_config.json

@@ -0,0 +1,3 @@
+{
+  "processor_class": "ActionCodec2Processor"
+}

variants/paper-2nd/profiles/joint/config.json

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+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/paper-2nd/profiles/joint/config.yaml

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+model_type: actioncodec2_unified
+config_version: 1
+physical:
+  input_dim: 8
+  components:
+    generalized_joint_position:
+      dims:
+        start: 0
+        stop: 7
+      space: additive
+      input_order: 0
+      primitive_order: 2
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -6.283185307179586
+          max: 6.283185307179586
+        order_2:
+          min: -0.25
+          max: 0.25
+        order_1:
+          min: -0.35
+          max: 0.35
+      distortion_limit:
+      - 0.004
+      - 0.004
+      - 0.006
+      - 0.0075
+      - 0.015
+      - 0.02
+      - 0.02
+      primitive_selection: smooth
+    gripper_open_command:
+      dims:
+      - 7
+      space: additive
+      input_order: 0
+      primitive_order: 0
+      input_transform:
+        scale: 1.0
+        clip: true
+      constraints:
+        order_0:
+          min: 0.0
+          max: 1.0
+      distortion_limit: 0.5
+      primitive_selection: nearest
+set_bpe:
+  lookahead: 8
+  allow_cross_component_merge: false
+train:
+  primitives:
+    zero_primitive_components:
+    - generalized_joint_position
+  bpe:
+    spatial_vocab_size: 2048
+    vocab_size: 4096
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2