sy000/dreamdojo-repa
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End of preview.
DreamDojo GR1 warmup data (teacher ODE trajectories)
10,000 teacher denoising trajectories for the warmup (ODE-regression) stage of DreamDojo self-forcing
distillation on the Fourier GR1 humanoid. Drop-in for the datasets/gr1_warmup_regenerated_4step path used by
cosmos_predict2/_src/predict2/interactive/configs/data.py in DreamDojo.
How it was generated
- Teacher:
nvidia/DreamDojo2B_GR1_post-train/iter_000050000(experimentdreamdojo_2b_480_640_gr1), 35-stepFlowUniPCMultistepScheduler, shift 5, guidance 0, seed 0, chunk size 12 actions -> 13 frames, 480x640. - Script:
cosmos_predict2/_src/predict2/action/inference/inference_gr00t_warmup.pywith--query_steps 0,9,18,27,34. - Source data:
GR1_robotfrom nvidia/PhysicalAI-Robotics-GR00T-Teleop-GR1 (22,209 episodes, 5,789,148 13-frame windows at 20 fps with frame interval 2). - Sampling (differs from the stock script): sample
iuses windowint(i * 5789148 / 10000), i.e. evenly spread over the whole dataset (~10k distinct episodes). The stock--start 0 --end 10000would take the first 10k consecutive windows, which cover only 117 episodes with 1-frame offsets between neighbours.
Layout (i = 0..9999)
| path | content |
|---|---|
images/{i}.png |
conditioning first frame, 480x640 RGB |
videos/{i}.mp4 |
ground-truth 13-frame clip (not the teacher output) |
actions/{i}.json |
12 x 384 action vector (GR1 min-max-normalized delta actions in dims 0..28, rest zero) |
latents/{i}.pt |
dict {0, 9, 18, 27, 34} -> float32 tensor (16, 4, 60, 80) in Wan2.1 VAE latent space |
In latents, keys 0/9/18/27 are the noisy latents fed into those sampler steps (key 0 is pure noise), and
key 34 is the final clean teacher output (overwritten after the last step). Decode key 34 with the Wan2.1 VAE
to see the teacher's generated video.
License
Derived from NVIDIA's PhysicalAI-Robotics-GR00T-Teleop-GR1 (CC-BY-NC-4.0) and generated with the DreamDojo model (NVIDIA Open Model License). Released under CC-BY-NC-4.0: non-commercial use only, with attribution to NVIDIA.
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Models trained or fine-tuned on csusupergear/dreamdojo_warmup_data