Publish Balance lerobot__val teacher rollouts
Browse files- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000000.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000001.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000002.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000003.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000004.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000005.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000006.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000007.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000008.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000009.parquet +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/manifest.json +388 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/episodes.jsonl +10 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/info.json +324 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/modality.json +30 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/relative_stats.json +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/stats.json +1501 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/tasks.jsonl +1 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000000.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000001.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000002.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000003.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000004.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000005.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000006.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000007.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000008.mp4 +3 -0
- zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/videos/chunk-000/observation.image/episode_000009.mp4 +3 -0
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000000.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000003.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000004.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000005.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000006.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000007.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000008.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-000/episode_000009.parquet
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zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/manifest.json
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| 1 |
+
{
|
| 2 |
+
"dataset_name": "lerobot__val",
|
| 3 |
+
"env_name": "g1_sonic_balance_simple",
|
| 4 |
+
"episodes": 10,
|
| 5 |
+
"frames": 9736,
|
| 6 |
+
"task_prompts": [
|
| 7 |
+
"Keep the G1 humanoid balanced on the support board."
|
| 8 |
+
],
|
| 9 |
+
"format": "lerobot_v2_image_parquet",
|
| 10 |
+
"source": "/pfs/users/lxy/latency-sensitive-bench/outputs/official_gr00t/teachers/g1_balance_simple_raw_ramp_fasttd3_25m_43d_teacher_obs198/raw",
|
| 11 |
+
"integration_name": "gymnasium",
|
| 12 |
+
"task_name": "g1_sonic_balance_simple",
|
| 13 |
+
"action_layout": "g1_sonic_gr00t_v2",
|
| 14 |
+
"action_labels": [
|
| 15 |
+
"left_hip_pitch_joint",
|
| 16 |
+
"right_hip_pitch_joint",
|
| 17 |
+
"waist_yaw_joint",
|
| 18 |
+
"left_hip_roll_joint",
|
| 19 |
+
"right_hip_roll_joint",
|
| 20 |
+
"waist_roll_joint",
|
| 21 |
+
"left_hip_yaw_joint",
|
| 22 |
+
"right_hip_yaw_joint",
|
| 23 |
+
"waist_pitch_joint",
|
| 24 |
+
"left_knee_joint",
|
| 25 |
+
"right_knee_joint",
|
| 26 |
+
"left_shoulder_pitch_joint",
|
| 27 |
+
"right_shoulder_pitch_joint",
|
| 28 |
+
"left_ankle_pitch_joint",
|
| 29 |
+
"right_ankle_pitch_joint",
|
| 30 |
+
"left_shoulder_roll_joint",
|
| 31 |
+
"right_shoulder_roll_joint",
|
| 32 |
+
"left_ankle_roll_joint",
|
| 33 |
+
"right_ankle_roll_joint",
|
| 34 |
+
"left_shoulder_yaw_joint",
|
| 35 |
+
"right_shoulder_yaw_joint",
|
| 36 |
+
"left_elbow_joint",
|
| 37 |
+
"right_elbow_joint",
|
| 38 |
+
"left_wrist_roll_joint",
|
| 39 |
+
"right_wrist_roll_joint",
|
| 40 |
+
"left_wrist_pitch_joint",
|
| 41 |
+
"right_wrist_pitch_joint",
|
| 42 |
+
"left_wrist_yaw_joint",
|
| 43 |
+
"right_wrist_yaw_joint",
|
| 44 |
+
"left_hand_thumb_0_joint",
|
| 45 |
+
"left_hand_thumb_1_joint",
|
| 46 |
+
"left_hand_thumb_2_joint",
|
| 47 |
+
"left_hand_middle_0_joint",
|
| 48 |
+
"left_hand_middle_1_joint",
|
| 49 |
+
"left_hand_index_0_joint",
|
| 50 |
+
"left_hand_index_1_joint",
|
| 51 |
+
"right_hand_thumb_0_joint",
|
| 52 |
+
"right_hand_thumb_1_joint",
|
| 53 |
+
"right_hand_thumb_2_joint",
|
| 54 |
+
"right_hand_index_0_joint",
|
| 55 |
+
"right_hand_index_1_joint",
|
| 56 |
+
"right_hand_middle_0_joint",
|
| 57 |
+
"right_hand_middle_1_joint"
|
| 58 |
+
],
|
| 59 |
+
"carrier_action_labels": [
|
| 60 |
+
"left_hip_pitch_joint",
|
| 61 |
+
"right_hip_pitch_joint",
|
| 62 |
+
"waist_yaw_joint",
|
| 63 |
+
"left_hip_roll_joint",
|
| 64 |
+
"right_hip_roll_joint",
|
| 65 |
+
"waist_roll_joint",
|
| 66 |
+
"left_hip_yaw_joint",
|
| 67 |
+
"right_hip_yaw_joint",
|
| 68 |
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"waist_pitch_joint",
|
| 69 |
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"left_knee_joint",
|
| 70 |
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"right_knee_joint",
|
| 71 |
+
"left_shoulder_pitch_joint",
|
| 72 |
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"right_shoulder_pitch_joint",
|
| 73 |
+
"left_ankle_pitch_joint",
|
| 74 |
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"right_ankle_pitch_joint",
|
| 75 |
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"left_shoulder_roll_joint",
|
| 76 |
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"right_shoulder_roll_joint",
|
| 77 |
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"left_ankle_roll_joint",
|
| 78 |
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"right_ankle_roll_joint",
|
| 79 |
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"left_shoulder_yaw_joint",
|
| 80 |
+
"right_shoulder_yaw_joint",
|
| 81 |
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"left_elbow_joint",
|
| 82 |
+
"right_elbow_joint",
|
| 83 |
+
"left_wrist_roll_joint",
|
| 84 |
+
"right_wrist_roll_joint",
|
| 85 |
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"left_wrist_pitch_joint",
|
| 86 |
+
"right_wrist_pitch_joint",
|
| 87 |
+
"left_wrist_yaw_joint",
|
| 88 |
+
"right_wrist_yaw_joint",
|
| 89 |
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"left_hand_thumb_0_joint",
|
| 90 |
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"left_hand_thumb_1_joint",
|
| 91 |
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"left_hand_thumb_2_joint",
|
| 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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"right_hand_thumb_0_joint",
|
| 97 |
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"right_hand_thumb_1_joint",
|
| 98 |
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|
| 99 |
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|
| 100 |
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"right_hand_index_1_joint",
|
| 101 |
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"right_hand_middle_0_joint",
|
| 102 |
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|
| 103 |
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],
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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"rows_unit": "decision_step",
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"state_dim": 198,
|
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| 164 |
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| 166 |
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| 167 |
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|
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|
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|
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|
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|
| 172 |
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| 173 |
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| 195 |
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| 197 |
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|
| 198 |
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| 200 |
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| 203 |
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| 210 |
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| 211 |
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| 212 |
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|
| 214 |
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 220 |
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| 225 |
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| 226 |
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|
| 227 |
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|
| 228 |
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|
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|
| 230 |
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| 231 |
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| 232 |
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| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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"state_157",
|
| 271 |
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|
| 272 |
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|
| 273 |
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"state_160",
|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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"state_171",
|
| 285 |
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"state_172",
|
| 286 |
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"state_173",
|
| 287 |
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"state_174",
|
| 288 |
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"state_175",
|
| 289 |
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"state_176",
|
| 290 |
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"state_177",
|
| 291 |
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"state_178",
|
| 292 |
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"state_179",
|
| 293 |
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"state_180",
|
| 294 |
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"state_181",
|
| 295 |
+
"state_182",
|
| 296 |
+
"state_183",
|
| 297 |
+
"state_184",
|
| 298 |
+
"state_185",
|
| 299 |
+
"state_186",
|
| 300 |
+
"state_187",
|
| 301 |
+
"state_188",
|
| 302 |
+
"state_189",
|
| 303 |
+
"state_190",
|
| 304 |
+
"state_191",
|
| 305 |
+
"state_192",
|
| 306 |
+
"state_193",
|
| 307 |
+
"state_194",
|
| 308 |
+
"state_195",
|
| 309 |
+
"state_196",
|
| 310 |
+
"state_197"
|
| 311 |
+
],
|
| 312 |
+
"state_normalization": null,
|
| 313 |
+
"gymnasium_task": {
|
| 314 |
+
"action_space": {
|
| 315 |
+
"dtype": "float32",
|
| 316 |
+
"labels": [
|
| 317 |
+
"left_hip_pitch_joint",
|
| 318 |
+
"right_hip_pitch_joint",
|
| 319 |
+
"waist_yaw_joint",
|
| 320 |
+
"left_hip_roll_joint",
|
| 321 |
+
"right_hip_roll_joint",
|
| 322 |
+
"waist_roll_joint",
|
| 323 |
+
"left_hip_yaw_joint",
|
| 324 |
+
"right_hip_yaw_joint",
|
| 325 |
+
"waist_pitch_joint",
|
| 326 |
+
"left_knee_joint",
|
| 327 |
+
"right_knee_joint",
|
| 328 |
+
"left_shoulder_pitch_joint",
|
| 329 |
+
"right_shoulder_pitch_joint",
|
| 330 |
+
"left_ankle_pitch_joint",
|
| 331 |
+
"right_ankle_pitch_joint",
|
| 332 |
+
"left_shoulder_roll_joint",
|
| 333 |
+
"right_shoulder_roll_joint",
|
| 334 |
+
"left_ankle_roll_joint",
|
| 335 |
+
"right_ankle_roll_joint",
|
| 336 |
+
"left_shoulder_yaw_joint",
|
| 337 |
+
"right_shoulder_yaw_joint",
|
| 338 |
+
"left_elbow_joint",
|
| 339 |
+
"right_elbow_joint",
|
| 340 |
+
"left_wrist_roll_joint",
|
| 341 |
+
"right_wrist_roll_joint",
|
| 342 |
+
"left_wrist_pitch_joint",
|
| 343 |
+
"right_wrist_pitch_joint",
|
| 344 |
+
"left_wrist_yaw_joint",
|
| 345 |
+
"right_wrist_yaw_joint",
|
| 346 |
+
"left_hand_thumb_0_joint",
|
| 347 |
+
"left_hand_thumb_1_joint",
|
| 348 |
+
"left_hand_thumb_2_joint",
|
| 349 |
+
"left_hand_middle_0_joint",
|
| 350 |
+
"left_hand_middle_1_joint",
|
| 351 |
+
"left_hand_index_0_joint",
|
| 352 |
+
"left_hand_index_1_joint",
|
| 353 |
+
"right_hand_thumb_0_joint",
|
| 354 |
+
"right_hand_thumb_1_joint",
|
| 355 |
+
"right_hand_thumb_2_joint",
|
| 356 |
+
"right_hand_index_0_joint",
|
| 357 |
+
"right_hand_index_1_joint",
|
| 358 |
+
"right_hand_middle_0_joint",
|
| 359 |
+
"right_hand_middle_1_joint"
|
| 360 |
+
],
|
| 361 |
+
"type": "box"
|
| 362 |
+
},
|
| 363 |
+
"base_prompt": "Keep the G1 humanoid balanced on the support board.",
|
| 364 |
+
"env_fps": 50.0,
|
| 365 |
+
"env_id": "LatencyBench/G1SonicBalanceSimple-v0",
|
| 366 |
+
"frame_stack": 1,
|
| 367 |
+
"make_kwargs": {
|
| 368 |
+
"camera_name": "head_camera",
|
| 369 |
+
"control_mode": "raw_body_target",
|
| 370 |
+
"gr00t_teacher_observation_state": true,
|
| 371 |
+
"height": 256,
|
| 372 |
+
"raw_learn_hands": true,
|
| 373 |
+
"render_mode": "rgb_array",
|
| 374 |
+
"scene_path": "/pfs/users/lxy/latency-sensitive-bench/results/humanoidbench_g1_sonic_assets/assets/sonic_g1/envs/scene_balance_simple.xml",
|
| 375 |
+
"target_velocity_ramp_time_s": 0.1,
|
| 376 |
+
"width": 256
|
| 377 |
+
},
|
| 378 |
+
"obs_fps": 50.0,
|
| 379 |
+
"registration_imports": [
|
| 380 |
+
"latency_bench.envs.humanoidbench_sonic"
|
| 381 |
+
],
|
| 382 |
+
"task_name": "g1_sonic_balance_simple"
|
| 383 |
+
},
|
| 384 |
+
"training_dataset_name": "lerobot",
|
| 385 |
+
"official_embodiment_tag": "NEW_EMBODIMENT",
|
| 386 |
+
"official_action_horizon": 40,
|
| 387 |
+
"official_modality_config": "latency_bench/policy/official_gr00t_modality.py"
|
| 388 |
+
}
|
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "length": 1000}
|
| 2 |
+
{"episode_index": 1, "length": 1000}
|
| 3 |
+
{"episode_index": 2, "length": 948}
|
| 4 |
+
{"episode_index": 3, "length": 1000}
|
| 5 |
+
{"episode_index": 4, "length": 952}
|
| 6 |
+
{"episode_index": 5, "length": 1000}
|
| 7 |
+
{"episode_index": 6, "length": 927}
|
| 8 |
+
{"episode_index": 7, "length": 1000}
|
| 9 |
+
{"episode_index": 8, "length": 909}
|
| 10 |
+
{"episode_index": 9, "length": 1000}
|
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/info.json
ADDED
|
@@ -0,0 +1,324 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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| 223 |
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| 224 |
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| 225 |
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| 228 |
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|
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| 271 |
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| 274 |
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|
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|
| 277 |
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|
| 278 |
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| 279 |
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|
| 282 |
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|
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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|
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|
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|
| 300 |
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|
| 304 |
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|
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|
| 310 |
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|
| 311 |
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|
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|
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| 314 |
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|
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|
| 316 |
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| 317 |
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| 318 |
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|
| 319 |
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|
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|
| 322 |
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|
| 323 |
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}
|
| 324 |
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}
|
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/modality.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"state": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 198,
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"absolute": true,
|
| 8 |
+
"original_key": "observation.state"
|
| 9 |
+
}
|
| 10 |
+
},
|
| 11 |
+
"action": {
|
| 12 |
+
"action": {
|
| 13 |
+
"start": 0,
|
| 14 |
+
"end": 43,
|
| 15 |
+
"dtype": "float32",
|
| 16 |
+
"absolute": true,
|
| 17 |
+
"original_key": "action"
|
| 18 |
+
}
|
| 19 |
+
},
|
| 20 |
+
"video": {
|
| 21 |
+
"ego_view": {
|
| 22 |
+
"original_key": "observation.image"
|
| 23 |
+
}
|
| 24 |
+
},
|
| 25 |
+
"annotation": {
|
| 26 |
+
"human.task_description": {
|
| 27 |
+
"original_key": "task_index"
|
| 28 |
+
}
|
| 29 |
+
}
|
| 30 |
+
}
|
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/relative_stats.json
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"__fingerprints__": {}
|
| 3 |
+
}
|
zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/meta/stats.json
ADDED
|
@@ -0,0 +1,1501 @@
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| 1 |
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