| { |
| "action_semantics": { |
| "base_action_mode": "lowerbody_cmd", |
| "base_cmd_slew": 0.7, |
| "base_velocity_scale": { |
| "vx": 0.35, |
| "vy": 0.25 |
| }, |
| "left_stick_x": "GROOT_WBC_G1 vy_body", |
| "left_stick_y": "GROOT_WBC_G1 vx_body", |
| "lowerbody_backend": "groot_wbc_g1", |
| "planar_walk_entry_speed": 0.055, |
| "policy_walk_switch_speed": 0.05, |
| "right_stick_x": "GROOT_WBC_G1 wz", |
| "robot_model": "g1_dex1", |
| "route_pelvis_rz_to_torso": false, |
| "stick_deadzone": 0.15, |
| "upperbody_ik_backend": "mink", |
| "upperbody_ik_conditioning": { |
| "engage_seed": "current_arm_command", |
| "engage_smooth_seconds": 1.0, |
| "max_joint_speed_rad_s": 6.0 |
| }, |
| "yaw_mode": "base" |
| }, |
| "action_stats": { |
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| "action_stats_mode": "collector_envelope", |
| "collector": "session.py", |
| "control_step_seconds": 0.02, |
| "env_config": { |
| "action_mode": "absolute", |
| "action_representation": "absolute", |
| "camera_keys": [ |
| "head", |
| "right_wrist", |
| "left_wrist" |
| ], |
| "camera_shape": [ |
| 84, |
| 84 |
| ], |
| "control_pelvis": true, |
| "controller": { |
| "backend": "groot_wbc_g1", |
| "base_action_mode": "lowerbody_cmd", |
| "cmd_clip": 1.0, |
| "default_height_cmd": 0.74, |
| "default_pitch_cmd": 0.0, |
| "deterministic_reset": false, |
| "height_cmd_max": null, |
| "height_cmd_min": null, |
| "init_pelvis_z": 0.75, |
| "init_stance": "keyframe", |
| "model_path": null, |
| "passive_base_tilt": true, |
| "pitch_cmd_max": null, |
| "pitch_cmd_min": null, |
| "pitch_command": false, |
| "reset_warmup_steps": 200, |
| "skyhook_damping": 0.0, |
| "skyhook_kp": 0.0, |
| "use_height_cmd": true, |
| "wz_clip": 1.0 |
| }, |
| "demo_down_sample_rate": 10, |
| "enable_all_floating_dof": true, |
| "episode_length": 60000, |
| "event_progress_enabled": false, |
| "event_reward_holding_bonus": 0.0, |
| "event_reward_lift_bonus": 0.0, |
| "event_reward_progress_scale": 0.0, |
| "event_reward_shaping_enabled": false, |
| "event_reward_target_bonus": 0.0, |
| "frame_stack": 1, |
| "initialization_profile": "upstream", |
| "normalize_low_dim_obs": true, |
| "reach_tolerance": null, |
| "render_mode": "rgb_array", |
| "robot_model": "g1_dex1", |
| "state_keys": [ |
| "proprioception", |
| "proprioception_grippers", |
| "proprioception_floating_base" |
| ], |
| "success_hold_seconds": 1.0, |
| "upper_delta_scale_rad": null, |
| "wholebody": null |
| }, |
| "extra_fields": { |
| "per_step": [ |
| "wall_clock", |
| "full_qpos", |
| "full_qvel", |
| "raw_outer_action", |
| "expanded_action", |
| "lowerbody_action", |
| "leg_joint_targets", |
| "torso_target", |
| "lowerbody_command", |
| "height_command" |
| ], |
| "store_fullbody": true, |
| "training_action_field": "action remains the normalized outer action", |
| "wall_clock_semantics": "seconds since collector start (time.perf_counter). The sim time axis is k * control_step_seconds by construction; wall_clock is a diagnostic for capture-rate jitter only and is never used for training or replay." |
| }, |
| "format": "bigym_replay_npz", |
| "fullbody_layout": { |
| "base_dim": 4, |
| "expanded_action_dim": 35, |
| "full_joint_names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_dex1_finger_joint_1", |
| "left_dex1_finger_joint_2", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_dex1_finger_joint_1", |
| "right_dex1_finger_joint_2", |
| "pelvis_x", |
| "pelvis_y", |
| "pelvis_z", |
| "pelvis_rz" |
| ], |
| "gripper_count": 2, |
| "inner_floating_dofs": [ |
| "pelvis_x", |
| "pelvis_y", |
| "pelvis_z", |
| "pelvis_rz" |
| ], |
| "inner_limb_actuator_names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "leg_joint_names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint" |
| ], |
| "limb_names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "outer_action_dim": 20, |
| "outer_action_high": [ |
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| "outer_action_low": [ |
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| "qpos_dim": 46, |
| "qvel_dim": 45 |
| }, |
| "lowerbody_policy": { |
| "action_clip": 5.0, |
| "backend": "groot_wbc_g1", |
| "base_action_mode": "lowerbody_cmd", |
| "cmd_clip": 1.0, |
| "command_adapter": { |
| "allow_missing_checkpoint": false, |
| "anchor_gate_enabled": false, |
| "anchor_low_speed_threshold": 0.05, |
| "anchor_xy_threshold": 0.25, |
| "anchor_yaw_threshold": 0.35, |
| "checkpoint_path": null, |
| "device": "cpu", |
| "enabled": false, |
| "feature_dim": 42, |
| "hidden_dim": 128, |
| "max_delta": [ |
| 0.25, |
| 0.25, |
| 0.35 |
| ], |
| "num_layers": 3, |
| "residual_scale": 1.0 |
| }, |
| "default_height_cmd": 0.98, |
| "device": "cpu", |
| "enabled": true, |
| "groot_wbc_g1": { |
| "default_height_cmd": 0.74, |
| "init_pelvis_z": 0.75, |
| "passive_base_tilt": true, |
| "repo_root": "<groot-checkout>" |
| }, |
| "init_foot_backward_offset": 0.0, |
| "init_pelvis_z": 0.92, |
| "init_stance": "keyframe", |
| "reset_warmup_steps": 200, |
| "route_pelvis_rz_to_torso": false, |
| "specialist_switch_enabled": false, |
| "specialist_switch_threshold": 0.5, |
| "stand_checkpoint_path": null, |
| "support_base_with_legs": true, |
| "use_height_cmd": true, |
| "walk_checkpoint_path": null, |
| "waypoint_skill": { |
| "action_xy_clip": 0.45, |
| "action_yaw_clip": 0.45, |
| "checkpoint_path": null, |
| "demo_lookahead_steps": 8, |
| "device": "cpu", |
| "step_frac_mode": "zero", |
| "zero_waypoint_passthrough": true, |
| "zero_waypoint_threshold": 1e-06 |
| }, |
| "wz_clip": 1.0 |
| }, |
| "outer_action_floating_dofs": [ |
| "pelvis_x", |
| "pelvis_y", |
| "pelvis_z", |
| "pelvis_rz" |
| ], |
| "outer_limb_actuator_names": [ |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "package_versions": { |
| "dm-control": "1.0.41", |
| "mink": "1.2.0", |
| "mujoco": "3.8.1", |
| "python": "3.12.3" |
| }, |
| "pipeline_version": "2026-08-26-success-hold-training-view-v1", |
| "raw_outer_action_bounds": { |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0, |
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| "min": [ |
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| ] |
| }, |
| "recommended_episode_length": 17000, |
| "recommended_episode_length_rule": "ceil(2.0 x longest demo across 1 batch(es), min 2000, round up to 500, capped at collection budget); stamped by scripts/recommend_demo_episode_length.py", |
| "reset_semantics": { |
| "default_height_cmd": 0.74, |
| "demo_start": "post_warmup_vr_engage_state", |
| "engage_snapshot_fields": "init_qpos, init_qvel, init_ctrl, init_qacc_warmstart, lb_state.*", |
| "init_keyframe": "g1_groot_wbc_default_angles", |
| "init_pelvis_z": 0.75, |
| "init_stance": "keyframe", |
| "init_stance_qpos": null, |
| "pre_engage_steps_saved_per_episode": true, |
| "reset_warmup_seconds": 4.0, |
| "reset_warmup_source": "task_yaml", |
| "reset_warmup_steps": 200 |
| }, |
| "substrate_fingerprint": { |
| "action_dim": 20, |
| "contact_signature": "a3972624f79d3e98", |
| "control_step_seconds": 0.02, |
| "demo_down_sample_rate": 10, |
| "episode_length": 60000, |
| "g1_passive_base_tilt": true, |
| "low_dim_component_slices": { |
| "proprioception": [ |
| 0, |
| 44 |
| ], |
| "proprioception_floating_base": [ |
| 46, |
| 50 |
| ], |
| "proprioception_grippers": [ |
| 44, |
| 46 |
| ] |
| }, |
| "lowerbody_backend": "groot_wbc_g1", |
| "lowerbody_base_action_mode": "lowerbody_cmd", |
| "lowerbody_init_stance": "keyframe", |
| "mujoco_version": "3.8.1", |
| "robot_model": "g1_dex1", |
| "solver": 2, |
| "substrate_version": "bigym2-mj381-v1", |
| "success_hold_seconds": 3.0, |
| "task": "move_plate" |
| }, |
| "success_hold_trim": { |
| "control_step_seconds": 0.02, |
| "date": "2026-08-31", |
| "method": "drop the surplus terminal hold; keep one terminal reward; move discount=0 to the new final frame", |
| "source_batch": "move_plate", |
| "source_success_hold_seconds": 3.0, |
| "target_success_hold_seconds": 1.0, |
| "trim_frames": 100, |
| "trim_seconds": 2.0 |
| }, |
| "task": { |
| "action_mode": "absolute", |
| "camera_keys": [ |
| "head", |
| "right_wrist", |
| "left_wrist" |
| ], |
| "camera_shape": [ |
| 84, |
| 84 |
| ], |
| "collect_success_hold_seconds": 3.0, |
| "control_pelvis": true, |
| "demo_down_sample_rate": 10, |
| "enable_all_floating_dof": true, |
| "episode_length": 60000, |
| "lowerbody_policy": { |
| "action_clip": 5.0, |
| "backend": "groot_wbc_g1", |
| "base_action_mode": "lowerbody_cmd", |
| "cmd_clip": 1.0, |
| "command_adapter": { |
| "allow_missing_checkpoint": false, |
| "anchor_gate_enabled": false, |
| "anchor_low_speed_threshold": 0.05, |
| "anchor_xy_threshold": 0.25, |
| "anchor_yaw_threshold": 0.35, |
| "checkpoint_path": null, |
| "device": "cpu", |
| "enabled": false, |
| "feature_dim": 42, |
| "hidden_dim": 128, |
| "max_delta": [ |
| 0.25, |
| 0.25, |
| 0.35 |
| ], |
| "num_layers": 3, |
| "residual_scale": 1.0 |
| }, |
| "default_height_cmd": 0.98, |
| "device": "cpu", |
| "enabled": true, |
| "groot_wbc_g1": { |
| "default_height_cmd": 0.74, |
| "init_pelvis_z": 0.75, |
| "passive_base_tilt": true, |
| "repo_root": "<groot-checkout>" |
| }, |
| "init_foot_backward_offset": 0.0, |
| "init_pelvis_z": 0.92, |
| "init_stance": "keyframe", |
| "reset_warmup_steps": 200, |
| "route_pelvis_rz_to_torso": true, |
| "specialist_switch_enabled": false, |
| "specialist_switch_threshold": 0.5, |
| "stand_checkpoint_path": null, |
| "support_base_with_legs": true, |
| "use_height_cmd": true, |
| "walk_checkpoint_path": null, |
| "waypoint_skill": { |
| "action_xy_clip": 0.45, |
| "action_yaw_clip": 0.45, |
| "checkpoint_path": null, |
| "demo_lookahead_steps": 8, |
| "device": "cpu", |
| "step_frac_mode": "zero", |
| "zero_waypoint_passthrough": true, |
| "zero_waypoint_threshold": 1e-06 |
| }, |
| "wz_clip": 1.0 |
| }, |
| "normalize_low_dim_obs": true, |
| "num_demos": -1, |
| "reach_tolerance": null, |
| "render_mode": "rgb_array", |
| "robot_model": "g1_dex1", |
| "state_keys": [ |
| "proprioception", |
| "proprioception_grippers", |
| "proprioception_floating_base" |
| ], |
| "success_hold_seconds": 1.0, |
| "task_name": "move_plate", |
| "training_success_hold_seconds": 1.0 |
| }, |
| "vr_space": { |
| "heading_alignment": "current_hmd_forward_to_robot_forward", |
| "mode": "follow_head", |
| "recenter_trigger": "left_x_or_right_a", |
| "startup_auto_recenter": false, |
| "transform_applies_to": [ |
| "stereo_views", |
| "left_controller", |
| "right_controller" |
| ] |
| } |
| } |
|
|
