Publish audited ActionCodec2 release files

variants/extended-o1-5mm-4k-2bin-1p2ms/profiles/joint/config.yaml

@@ -0,0 +1,59 @@
+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: 1
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -6.283185307179586
+          max: 6.283185307179586
+        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

variants/extended-o1-5mm-4k-2bin-1p2ms/profiles/joint/primitives.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926f2004304296292c45cfaeca11a6a0cc83737db547f2071f07420e23278191
+size 3514

variants/extended-o1-5mm-4k-2bin-1p2ms/profiles/joint/processor_config.json

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

variants/extended-o1-5mm-4k-2bin-1p2ms/router_config.yaml

@@ -0,0 +1,408 @@
+model_type: actioncodec2_router
+config_version: 4
+profiles:
+- name: joint
+  token_offset: 0
+  token_budget: 4096
+  artifact_fingerprint: a206e492dfe527500ad184e1745c79685973f42141f7765e999faaaff1320fb9
+- name: eef
+  token_offset: 4096
+  token_budget: 4096
+  artifact_fingerprint: 3068461bd50bdb46ee5df074111a69f77b97c62f6ff559973db4078aae595018
+presets:
+- name: single_eef_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_abs
+  input_dim: 8
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_eef_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_delta
+  input_dim: 8
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_abs
+  input_dim: 16
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_delta
+  input_dim: 16
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs_no_gripper
+  input_dim: 6
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi

variants/extended-o1-5mm-8k-2bin-1p2ms/config.json

@@ -0,0 +1,7 @@
+{
+  "model_type": "actioncodec2",
+  "processor_class": "ActionCodec2",
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/extended-o1-5mm-8k-2bin-1p2ms/processor_config.json

@@ -0,0 +1,11 @@
+{
+  "processor_class": "ActionCodec2",
+  "action_space": "single_eef_delta",
+  "fitted_profiles": [
+    "eef",
+    "joint"
+  ],
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/eef/config.json

@@ -0,0 +1,4 @@
+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/eef/config.yaml

@@ -0,0 +1,74 @@
+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: 1
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -2.0
+          max: 2.0
+        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: 1
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -3.141592653589793
+          max: 3.141592653589793
+        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: 8192
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/eef/primitives.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d44c81be991acc0cc5319fe26eb2e06a43fb0b637f1c4671477f038a2065322
+size 3038

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/eef/processor_config.json

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

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/joint/config.json

@@ -0,0 +1,4 @@
+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/joint/config.yaml

@@ -0,0 +1,59 @@
+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: 1
+      input_transform:
+        scale: 1.0
+        clip: false
+      constraints:
+        order_0:
+          min: -6.283185307179586
+          max: 6.283185307179586
+        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: 8192
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/joint/primitives.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:926f2004304296292c45cfaeca11a6a0cc83737db547f2071f07420e23278191
+size 3514

variants/extended-o1-5mm-8k-2bin-1p2ms/profiles/joint/processor_config.json

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

variants/extended-o1-5mm-8k-2bin-1p2ms/router_config.yaml

@@ -0,0 +1,408 @@
+model_type: actioncodec2_router
+config_version: 4
+profiles:
+- name: joint
+  token_offset: 0
+  token_budget: 8192
+  artifact_fingerprint: 82b6dbdbce0e4adf0f71662b44c85bd2b3d96bbe0f9d30cfdba9f27a8f0be6c8
+- name: eef
+  token_offset: 8192
+  token_budget: 8192
+  artifact_fingerprint: e60a3e1d6adbe264dd7e0efcfec27f9bf73dd6ac6c56581071528ce9bb8b1656
+presets:
+- name: single_eef_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_abs
+  input_dim: 8
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_eef_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_delta
+  input_dim: 8
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_abs
+  input_dim: 16
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_delta
+  input_dim: 16
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs_no_gripper
+  input_dim: 6
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi

variants/extended-o2-10mm-16k-2bin-1p2ms/config.json

@@ -0,0 +1,7 @@
+{
+  "model_type": "actioncodec2",
+  "processor_class": "ActionCodec2",
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/extended-o2-10mm-16k-2bin-1p2ms/processor_config.json

@@ -0,0 +1,11 @@
+{
+  "processor_class": "ActionCodec2",
+  "action_space": "single_eef_delta",
+  "fitted_profiles": [
+    "eef",
+    "joint"
+  ],
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/eef/config.json

@@ -0,0 +1,4 @@
+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/eef/config.yaml

@@ -0,0 +1,80 @@
+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_1:
+          min: -0.08
+          max: 0.08
+        order_2:
+          min: -0.025
+          max: 0.025
+      distortion_limit: 0.01
+      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_1:
+          min: -0.25
+          max: 0.25
+        order_2:
+          min: -0.08
+          max: 0.08
+      distortion_limit: 0.04
+      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: 16384
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/eef/primitives.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6a4c5cde78d34eb6ace994eb6d7e1957601696d60d9820bc788124b2a66d7b
+size 2246

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/eef/processor_config.json

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

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/joint/config.json

@@ -0,0 +1,4 @@
+{
+  "model_type": "actioncodec2_unified",
+  "processor_class": "ActionCodec2Processor"
+}

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/joint/config.yaml

@@ -0,0 +1,62 @@
+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_1:
+          min: -0.35
+          max: 0.35
+        order_2:
+          min: -0.25
+          max: 0.25
+      distortion_limit:
+      - 0.008
+      - 0.008
+      - 0.012
+      - 0.015
+      - 0.03
+      - 0.04
+      - 0.04
+      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: 16384
+  quality_control:
+    hard_order_1_scale: 3.0
+    min_segment_length: 2

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/joint/primitives.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d851023a6e85985b30cc9eeb2df25948ac083dee0b8083c0a67f153bcb2f73a
+size 2714

variants/extended-o2-10mm-16k-2bin-1p2ms/profiles/joint/processor_config.json

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

variants/extended-o2-10mm-16k-2bin-1p2ms/router_config.yaml

@@ -0,0 +1,408 @@
+model_type: actioncodec2_router
+config_version: 4
+profiles:
+- name: joint
+  token_offset: 0
+  token_budget: 16384
+  artifact_fingerprint: e6db13e734cbc81811994479c5675a365e77bf9dd508de13ed831ff2038f9c1f
+- name: eef
+  token_offset: 16384
+  token_budget: 16384
+  artifact_fingerprint: 4b4ee62a0c34438d4941e52d685d6da6f458b82dd0e08eca42e0201b946b1355
+presets:
+- name: single_eef_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs
+  input_dim: 7
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_abs
+  input_dim: 8
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_eef_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_delta
+  input_dim: 7
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint7_delta
+  input_dim: 8
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_abs
+  input_dim: 14
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_abs
+  input_dim: 16
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_eef_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 0
+      - 1
+      - 2
+      rotation_dims:
+      - 3
+      - 4
+      - 5
+      rotation_format: rotation_vector
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: eef
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      position_dims:
+      - 7
+      - 8
+      - 9
+      rotation_dims:
+      - 10
+      - 11
+      - 12
+      rotation_format: rotation_vector
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint6_delta
+  input_dim: 14
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi
+      gripper_dim: 6
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 7
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      joint_wrap: pi
+      gripper_dim: 13
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: dual_joint7_delta
+  input_dim: 16
+  input: delta
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    left_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      - 6
+      joint_wrap: pi
+      gripper_dim: 7
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+    right_arm:
+      space: joint
+      gripper_threshold: 0.8
+      gripper_open_is_high: true
+      joint_dims:
+      - 8
+      - 9
+      - 10
+      - 11
+      - 12
+      - 13
+      - 14
+      joint_wrap: pi
+      gripper_dim: 15
+      gripper_closed_value: 0.0
+      gripper_open_value: 1.0
+- name: single_joint6_abs_no_gripper
+  input_dim: 6
+  input: absolute
+  source_hz: 15.0
+  target_hz: 15.0
+  interpolation: cubic
+  token_order: time_major
+  components:
+    arm:
+      space: joint
+      joint_dims:
+      - 0
+      - 1
+      - 2
+      - 3
+      - 4
+      - 5
+      joint_wrap: pi

variants/extended-o2-10mm-1k-2bin-1p2ms/config.json

@@ -0,0 +1,7 @@
+{
+  "model_type": "actioncodec2",
+  "processor_class": "ActionCodec2",
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}

variants/extended-o2-10mm-1k-2bin-1p2ms/processor_config.json

@@ -0,0 +1,11 @@
+{
+  "processor_class": "ActionCodec2",
+  "action_space": "single_eef_delta",
+  "fitted_profiles": [
+    "eef",
+    "joint"
+  ],
+  "auto_map": {
+    "AutoProcessor": "processing_actioncodec2.ActionCodec2"
+  }
+}