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+ - 0
243
+ - 1
244
+ - 2
245
+ rotation_dims:
246
+ - 3
247
+ - 4
248
+ - 5
249
+ rotation_format: rotation_vector
250
+ gripper_dim: 6
251
+ gripper_threshold: 0.8
252
+ gripper_open_is_high: true
253
+ right_arm:
254
+ space: eef
255
+ position_dims:
256
+ - 7
257
+ - 8
258
+ - 9
259
+ rotation_dims:
260
+ - 10
261
+ - 11
262
+ - 12
263
+ rotation_format: rotation_vector
264
+ gripper_dim: 13
265
+ gripper_threshold: 0.8
266
+ gripper_open_is_high: true
267
+ - name: dual_joint6_delta
268
+ input_dim: 14
269
+ input: delta
270
+ source_hz: 15.0
271
+ target_hz: 15.0
272
+ interpolation: cubic
273
+ components:
274
+ left_arm:
275
+ space: joint
276
+ joint_dims:
277
+ - 0
278
+ - 1
279
+ - 2
280
+ - 3
281
+ - 4
282
+ - 5
283
+ gripper_dim: 6
284
+ gripper_threshold: 0.8
285
+ gripper_open_is_high: true
286
+ right_arm:
287
+ space: joint
288
+ joint_dims:
289
+ - 7
290
+ - 8
291
+ - 9
292
+ - 10
293
+ - 11
294
+ - 12
295
+ gripper_dim: 13
296
+ gripper_threshold: 0.8
297
+ gripper_open_is_high: true
298
+ - name: dual_joint7_delta
299
+ input_dim: 16
300
+ input: delta
301
+ source_hz: 15.0
302
+ target_hz: 15.0
303
+ interpolation: cubic
304
+ components:
305
+ left_arm:
306
+ space: joint
307
+ joint_dims:
308
+ - 0
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+ - 1
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+ - 2
311
+ - 3
312
+ - 4
313
+ - 5
314
+ - 6
315
+ gripper_dim: 7
316
+ gripper_threshold: 0.8
317
+ gripper_open_is_high: true
318
+ right_arm:
319
+ space: joint
320
+ joint_dims:
321
+ - 8
322
+ - 9
323
+ - 10
324
+ - 11
325
+ - 12
326
+ - 13
327
+ - 14
328
+ gripper_dim: 15
329
+ gripper_threshold: 0.8
330
+ gripper_open_is_high: true
331
+ - name: single_joint6_abs_continuous_gripper
332
+ input_dim: 6
333
+ input: absolute
334
+ source_hz: 15.0
335
+ target_hz: 15.0
336
+ interpolation: cubic
337
+ components:
338
+ arm:
339
+ space: joint
340
+ joint_dims:
341
+ - 0
342
+ - 1
343
+ - 2
344
+ - 3
345
+ - 4
346
+ - 5
variants/extended-1st-10mm-2k/config.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "model_type": "actioncodec2",
3
+ "processor_class": "ActionCodec2"
4
+ }
variants/extended-1st-10mm-2k/processor_config.json ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "processor_class": "ActionCodec2",
3
+ "action_space": "single_eef_delta",
4
+ "fitted_profiles": [
5
+ "eef",
6
+ "joint"
7
+ ],
8
+ "auto_map": {
9
+ "AutoProcessor": "processing_actioncodec2.ActionCodec2"
10
+ }
11
+ }
variants/extended-1st-10mm-2k/profiles/eef/bpe.json ADDED
@@ -0,0 +1 @@
 
 
1
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variants/extended-1st-10mm-2k/profiles/eef/config.json ADDED
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+ {
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+ "model_type": "actioncodec2_unified",
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+ "processor_class": "ActionCodec2Processor"
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+ }
variants/extended-1st-10mm-2k/profiles/eef/config.yaml ADDED
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+ model_type: actioncodec2_unified
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+ clip: false
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+ train:
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+ spatial_vocab_size: 1024
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+ vocab_size: 2048
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+ quality_control:
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+ hard_order_1_scale: 3.0
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+ min_segment_length: 2
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+ }
variants/extended-1st-10mm-2k/profiles/joint/bpe.json ADDED
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203
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+ gripper_threshold: 0.8
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+ gripper_open_is_high: true
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+ right_arm:
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+ - 13
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+ - 14
229
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230
+ gripper_threshold: 0.8
231
+ gripper_open_is_high: true
232
+ - name: dual_eef_delta
233
+ input_dim: 14
234
+ input: delta
235
+ source_hz: 15.0
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+ target_hz: 15.0
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+ interpolation: cubic
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+ gripper_dim: 6
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+ right_arm:
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+ rotation_dims:
260
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+ - 12
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+ rotation_format: rotation_vector
264
+ gripper_dim: 13
265
+ gripper_threshold: 0.8
266
+ gripper_open_is_high: true
267
+ - name: dual_joint6_delta
268
+ input_dim: 14
269
+ input: delta
270
+ source_hz: 15.0
271
+ target_hz: 15.0
272
+ interpolation: cubic
273
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+ right_arm:
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296
+ gripper_threshold: 0.8
297
+ gripper_open_is_high: true
298
+ - name: dual_joint7_delta
299
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+ input: delta
301
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+ target_hz: 15.0
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+ interpolation: cubic
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+ - 13
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+ gripper_dim: 15
329
+ gripper_threshold: 0.8
330
+ gripper_open_is_high: true
331
+ - name: single_joint6_abs_continuous_gripper
332
+ input_dim: 6
333
+ input: absolute
334
+ source_hz: 15.0
335
+ target_hz: 15.0
336
+ interpolation: cubic
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+ components:
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+ arm:
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variants/extended-1st-10mm-4k/config.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "model_type": "actioncodec2",
3
+ "processor_class": "ActionCodec2"
4
+ }
variants/extended-1st-10mm-4k/processor_config.json ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "processor_class": "ActionCodec2",
3
+ "action_space": "single_eef_delta",
4
+ "fitted_profiles": [
5
+ "eef",
6
+ "joint"
7
+ ],
8
+ "auto_map": {
9
+ "AutoProcessor": "processing_actioncodec2.ActionCodec2"
10
+ }
11
+ }
variants/extended-1st-10mm-4k/profiles/eef/bpe.json ADDED
@@ -0,0 +1 @@
 
 
1
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variants/extended-1st-10mm-8k/config.json ADDED
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variants/extended-1st-10mm-8k/processor_config.json ADDED
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+ "model_type": "actioncodec2_unified",
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+ "processor_class": "ActionCodec2Processor"
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+ model_type: actioncodec2_unified
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