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block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "handover_block", + "seed": 100000, + "instruction": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. 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Release it with the right gripper open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "handover_block", + "seed": 100000, + "instruction": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open", + "action_type": "joint" + }, + "native_step": 224 +} diff --git a/experiments/vlact-all-20261029/vlact-all-01/policy/calls/000007/native-actions.json b/experiments/vlact-all-20261029/vlact-all-01/policy/calls/000007/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..64393c019282d1137c47982865bced23329dff1d --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-01/policy/calls/000007/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.24620771408081055, + 1.3794538974761963, + 0.8658688068389893, + 0.492969274520874, + 0.7487599849700928, + 0.03517341613769531, + 1.0, + 0.6545319557189941, + 2.0359203815460205, + 0.952866792678833, + 1.084606409072876, + 0.1120293140411377, + 0.018483638763427734, + -0.00021186983212828636 + ], + [ + -0.24454021453857422, + 1.3713467121124268, + 0.8611199855804443, + 0.4872627258300781, + 0.7437000274658203, + 0.03233933448791504, + 1.0, + 0.6508326530456543, + 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Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. 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Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open", + "action_type": "joint" + }, + "native_step": 64 +} diff --git a/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000002/native-actions.json b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000002/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..3957b1667e12e7c2e481b4b2bac3bfdded435bab --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000002/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.13297724723815918, + 2.511939764022827, + 1.7780258655548096, + -0.8595767021179199, + 0.0043294429779052734, + -0.9421145915985107, + 0.0007309862412512302, + 0.1688077449798584, + 2.2796194553375244, + 1.3282310962677002, + -0.6133530139923096, + -0.0039708614349365234, + -1.5556361675262451, + -0.00035368045791983604 + ], + [ + -0.13190722465515137, + 2.512316942214966, + 1.7811968326568604, + -0.860206127166748, + 0.0040607452392578125, + -0.9426932334899902, + 0.0009307269938290119, 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"image": [ + "input-0.png", + "input-1.png", + "input-2.png" + ], + "lang": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. 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b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000004/input.json @@ -0,0 +1,28 @@ +{ + "examples": [ + { + "image": [ + "input-0.png", + "input-1.png", + "input-2.png" + ], + "lang": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open", + "action_type": "joint" + }, + "native_step": 128 +} diff --git a/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000004/native-actions.json b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000004/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..cc9882ae628b3e78d7e54ee87f544c39b7aad8f5 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000004/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.891808032989502, + 2.1546928882598877, + 1.4061925411224365, + -0.8246254920959473, + 0.0034332275390625, + 0.6678040027618408, + 0.0013103131204843521, + -0.06628131866455078, + 1.800919771194458, + 1.2562925815582275, + -1.0281038284301758, + 0.0010809898376464844, + -0.056847572326660156, + -0.0003423735033720732 + ], + [ + -0.8912012577056885, + 2.1550495624542236, + 1.406036615371704, + -0.8246142864227295, + 0.0031960010528564453, + 0.6690247058868408, + 0.0006311754696071148, + 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Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. 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Leave both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "place_dual_shoes", + "seed": 100001, + "instruction": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open", + "action_type": "joint" + }, + "native_step": 192 +} diff --git a/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000006/native-actions.json b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000006/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..53e04d78e4d80ff4a97eb02ae5ef0bfc8c46e20e --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-02/policy/calls/000006/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + 0.019755840301513672, + -0.00042748451232910156, + -0.0006325244903564453, + 0.00040340423583984375, + 7.700920104980469e-05, + -0.0017628669738769531, + 1.0, + 0.7234804630279541, + 2.3424489498138428, + 1.7521955966949463, + -0.9675548076629639, + -0.024380207061767578, + 2.3200132846832275, + 0.00035781064070761204 + ], + [ + 0.019820451736450195, + -0.0002713203430175781, + -0.0005609989166259766, + 0.00048828125, + 0.00019121170043945312, + -0.0017480850219726562, + 1.0, + 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Hold the scanner’s scanning face close to and directly facing the object’s center, keeping both grippers closed around the items", + "source": "workspace/RLE-Bench-inhouse/tasks/task03/catalog/04-scan-object/task.yaml", + "source_sha256": "5f72da14518f79bd402b8a3352f87e7402f6ee836ff569424257d9c6f1fc5912" +} diff --git a/experiments/vlact-all-20261029/vlact-all-04/instructions.jsonl b/experiments/vlact-all-20261029/vlact-all-04/instructions.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5729790babc70fba0a8d6cb9a0a194d2ed6ce010 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-04/instructions.jsonl @@ -0,0 +1 @@ +{"wall_time_ns": 1793304785786425959, "seed": 100006, "task_id": "robotwin/scan-object-aloha-agilex", "template": "pick up the scanner and the object simultaneously with separate arms. 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Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "scan_object", + "seed": 100006, + "instruction": "pick up the scanner and the object simultaneously with separate arms. 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Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "scan_object", + "seed": 100006, + "instruction": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items", + "action_type": "joint" + }, + "native_step": 32 +} diff --git a/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000001/native-actions.json b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000001/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..563de2ae8fec43439c033dca2b6397fc925e806e --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000001/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.4474046230316162, + 1.6273925304412842, + 1.1183655261993408, + -1.0591051578521729, + -0.001476287841796875, + 0.32003188133239746, + 1.0, + 0.441896915435791, + 1.7680246829986572, + 1.199026346206665, + -0.962334394454956, + -0.014324426651000977, + -0.6198875904083252, + 0.9984034299850464 + ], + [ + -0.44837021827697754, + 1.6374313831329346, + 1.0935747623443604, + 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Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "scan_object", + "seed": 100006, + "instruction": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items", + "action_type": "joint" + }, + "native_step": 64 +} diff --git a/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000002/native-actions.json b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000002/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..89181fb9b2603c4a248c64adf50215de4ad1b5d9 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000002/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.44939732551574707, + 1.7112514972686768, + 0.9507219791412354, + -0.8051660060882568, + 0.0001399517059326172, + 0.31392717361450195, + 0.0002461378462612629, + 0.46353936195373535, + 1.8583900928497314, + 1.0654432773590088, + -0.739743709564209, + -0.013037443161010742, + -0.6233105659484863, + -0.002038741484284401 + ], + [ + -0.449338436126709, + 1.7113463878631592, + 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b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000003/input.json @@ -0,0 +1,28 @@ +{ + "examples": [ + { + "image": [ + "input-0.png", + "input-1.png", + "input-2.png" + ], + "lang": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "scan_object", + "seed": 100006, + "instruction": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items", + "action_type": "joint" + }, + "native_step": 96 +} diff --git a/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000003/native-actions.json b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000003/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..39d9d3d31ad026e98fdfa8099c8140b737ebe080 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000003/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.2940542697906494, + 1.6167881488800049, + 1.30403733253479, + -1.1648304462432861, + 0.11158370971679688, + 0.38355135917663574, + 0.0010252497158944607, + 0.3443927764892578, + 1.6264235973358154, + 1.3432085514068604, + -1.238345742225647, + -0.010117769241333008, + -0.7417314052581787, + -0.0003148266114294529 + ], + [ + -0.2904486656188965, + 1.6279914379119873, + 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"image": [ + "input-0.png", + "input-1.png", + "input-2.png" + ], + "lang": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "scan_object", + "seed": 100006, + "instruction": "pick up the scanner and the object simultaneously with separate arms. Hold the scanner\u2019s scanning face close to and directly facing the object\u2019s center, keeping both grippers closed around the items", + "action_type": "joint" + }, + "native_step": 128 +} diff --git a/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000004/native-actions.json b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000004/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..16726164cbffcac1863a7566932422ab326b5352 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-04/policy/calls/000004/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.16312503814697266, + 2.0215628147125244, + 1.085566759109497, + 0.8362011909484863, + 1.4264724254608154, + -0.6633124351501465, + 0.0027901316061615944, + 0.34580278396606445, + 1.668396234512329, + 1.3584825992584229, + -1.2271569967269897, + -0.027726411819458008, + -0.7530984878540039, + 0.0012672441080212593 + ], + [ + -0.16462016105651855, + 2.0190699100494385, + 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Set the object down near the center of the drawer interior and release it" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "put_object_cabinet", + "seed": 100009, + "instruction": "use one arm to hold the object and the other arm to open the bottom cabinet drawer. 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Set the object down near the center of the drawer interior and release it" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "put_object_cabinet", + "seed": 100009, + "instruction": "use one arm to hold the object and the other arm to open the bottom cabinet drawer. 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the other arm to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "put_object_cabinet", + "seed": 100009, + "instruction": "use one arm to hold the object and the other arm to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it", + "action_type": "joint" + }, + "native_step": 96 +} diff --git a/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000003/native-actions.json b/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000003/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..55a30ffa6eba736c1bb7725ae1e4990fa2cef64d --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000003/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.9246542453765869, + 2.173842668533325, + 1.0375969409942627, + 1.134357213973999, + -0.915597677230835, + 1.5071747303009033, + 1.0, + 0.22274088859558105, + 1.6601049900054932, + 0.7109286785125732, + -0.6219761371612549, + 0.0009093284606933594, + -0.18332266807556152, + -6.071198731660843e-05 + ], + [ + -0.9412639141082764, + 2.214855909347534, + 1.0602638721466064, + 1.1552207469940186, + -0.9316608905792236, + 1.535705804824829, + 1.0, 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the other arm to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "put_object_cabinet", + "seed": 100009, + "instruction": "use one arm to hold the object and the other arm to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it", + "action_type": "joint" + }, + "native_step": 160 +} diff --git a/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000005/native-actions.json b/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000005/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..39ab4d2c085f2fa8d331824c30477f8dae90774f --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-08/policy/calls/000005/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -1.1323950290679932, + 2.2426273822784424, + 0.957176923751831, + 1.2783920764923096, + -1.0984158515930176, + 1.5971548557281494, + 0.0008983705192804337, + 0.21726346015930176, + 1.675945520401001, + 0.7253029346466064, + -0.6256759166717529, + -0.001276254653930664, + -0.19272685050964355, + -0.001644108910113573 + ], + [ + -1.1415319442749023, + 2.240614175796509, + 0.9493443965911865, + 1.2835543155670166, + -1.1080703735351562, + 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Set the object down near the center of the drawer interior and release it" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "put_object_cabinet", + "seed": 100009, + "instruction": "use one arm to hold the object and the other arm to open the bottom cabinet drawer. 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 32 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000001/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000001/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..1f78a723ed072eb5158b15e323a5288e5f8c967e --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000001/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.06641793251037598, + 2.0150482654571533, + 1.5721590518951416, + -1.1237678527832031, + 0.0016913414001464844, + 1.0995285511016846, + 1.0, + -0.0013873577117919922, + 5.6743621826171875e-05, + 0.0010242462158203125, + -0.0013179779052734375, + -8.440017700195312e-05, + 0.00012445449829101562, + 0.999920129776001 + ], + [ + -0.06630730628967285, + 2.0180866718292236, + 1.5693228244781494, + -1.1183693408966064, + 0.0018482208251953125, + 1.1015284061431885, + 1.0, + 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 64 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000002/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000002/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..b33b68b05d893ef0a1bc4c7087362dc4ee835da4 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000002/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.06912779808044434, + 2.1137897968292236, + 1.383490800857544, + -0.8320145606994629, + 0.010915040969848633, + 1.0832583904266357, + 0.0004427204839885235, + -0.0015225410461425781, + 2.956390380859375e-05, + 0.0010273456573486328, + -0.0003325939178466797, + -0.00046753883361816406, + 0.00011372566223144531, + 0.999570906162262 + ], + [ + -0.06728982925415039, + 2.1060984134674072, + 1.3890087604522705, + -0.844282865524292, + 0.012134075164794922, + 1.0812199115753174, + 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 96 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000003/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000003/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..351a675cba9d19b9435e67845a4ee5fe261bf113 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000003/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.9467382431030273, + 2.208087205886841, + 1.9213221073150635, + -1.2835118770599365, + 0.007775068283081055, + 0.6449253559112549, + -0.0006832843646407127, + -0.0006742477416992188, + -0.0007026195526123047, + 0.0014290809631347656, + -0.0012691020965576172, + -0.0003476142883300781, + 0.00012731552124023438, + 0.9999111890792847 + ], + [ + -0.9504959583282471, + 2.2114193439483643, + 1.9198906421661377, + -1.2786955833435059, + 0.008076667785644531, + 0.6418771743774414, + 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 128 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000004/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000004/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..4d47ec463b4a20064e5ed0471f880b9fc9edb364 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000004/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.9580709934234619, + 2.2609760761260986, + 1.788238763809204, + -1.0934035778045654, + 0.013853311538696289, + 0.6265647411346436, + 1.0, + -0.000347137451171875, + -0.00041961669921875, + 0.0006692409515380859, + -0.0012278556823730469, + 7.939338684082031e-05, + 0.0006251335144042969, + 0.9998371601104736 + ], + [ + -0.953019380569458, + 2.2519285678863525, + 1.8168718814849854, + -1.1339671611785889, + 0.014126777648925781, + 0.6266963481903076, + 1.0, + 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blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 192 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000006/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000006/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..ae1c45365df9621eac557e6f79b3adcaf849885b --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000006/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + 0.0202329158782959, + -0.0007238388061523438, + -0.0003898143768310547, + 0.00038695335388183594, + 0.0002760887145996094, + -0.001161336898803711, + 1.0, + 0.34007978439331055, + 2.1857354640960693, + 1.479402780532837, + -0.863624095916748, + 0.003812074661254883, + -0.6851863861083984, + 0.9998391270637512 + ], + [ + 0.020332813262939453, + -0.000759124755859375, + -0.00042176246643066406, + 0.0003685951232910156, + 0.00031876564025878906, + -0.0011878013610839844, + 1.0, + 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 256 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000008/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000008/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5568b44081a183f5e1a0cf5e232703347903b6 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000008/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + 0.01985454559326172, + 0.0006139278411865234, + -0.00010609626770019531, + 0.00014400482177734375, + 0.00015306472778320312, + -0.0008873939514160156, + 1.0, + 0.8418834209442139, + 2.084186315536499, + 1.4669415950775146, + -0.9413793087005615, + -0.006764650344848633, + -0.7137525081634521, + -0.0004913927987217903 + ], + [ + 0.019948244094848633, + 0.0004410743713378906, + -0.00023508071899414062, + 0.0002295970916748047, + 0.00015306472778320312, + -0.0009572505950927734, + 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to smallest, from left to right. Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. 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Release them with both grippers open", + "action_type": "joint" + }, + "native_step": 320 +} diff --git a/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000010/native-actions.json b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000010/native-actions.json new file mode 100644 index 0000000000000000000000000000000000000000..6fb200ba668d82880d4d060602ae4cee0055e840 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-09/policy/calls/000010/native-actions.json @@ -0,0 +1,514 @@ +[ + [ + -0.11964058876037598, + 0.7077744007110596, + 0.6049416065216064, + -0.44158196449279785, + 0.0005970001220703125, + 0.25457334518432617, + 1.0, + 0.4465334415435791, + 1.3894665241241455, + 1.1554625034332275, + -0.7236919403076172, + -0.05566096305847168, + -0.5025107860565186, + 1.0 + ], + [ + -0.13737273216247559, + 0.8157806396484375, + 0.6878581047058105, + -0.4999861717224121, + 0.000774383544921875, + 0.2935760021209717, + 1.0, + 0.41490626335144043, + 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. 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Release them with both grippers open" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "blocks_ranking_size", + "seed": 100000, + "instruction": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. 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Keep each gripper centered on its handle while holding the pot up" + } + ], + "unnorm_key": "new_embodiment", + "do_sample": false, + "use_ddim": true, + "num_ddim_steps": 10, + "camera_order": [ + "cam_head", + "cam_left_wrist", + "cam_right_wrist" + ], + "case": { + "task_name": "lift_pot", + "seed": 100000, + "instruction": "grasp the round kitchenpot with handles and lift it well clear of the tabletop. 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Keep each gripper centered on its handle while holding the pot up", "action_type": "joint"}} +{"wall_time_ns": 1793304773654023576, "event": "trial_end", "task_name": "lift_pot", "seed": 100000, "success": true, "native_steps": 110, "native_step_limit": 400, "inference_calls": 4, "valid": true, "error": null, "wall_time_s": 20.295590813, "simulation_time_s": 28.57600135728717, "physics_steps": 7144, "wall_time_start_ns": 1793304753287915292, "wall_time_end_ns": 1793304773583510075, "timing_scope": "after native setup to last action completion", "wall_time_source": "monotonic clock", "simulation_time_source": "sum of timestep for completed scene.step calls"} diff --git a/experiments/vlact-all-20261029/vlact-all-10/policy/server.json b/experiments/vlact-all-20261029/vlact-all-10/policy/server.json new file mode 100644 index 0000000000000000000000000000000000000000..2fccc95da9cf3585e7bfd35ce953c092115a19c7 --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-10/policy/server.json @@ -0,0 +1,100 @@ +{ + "framework": "VLAct QwenOFT", + "action_chunk_size": 32, + "action_dim": 14, + "unnorm_key": "new_embodiment", + "joint_action_unnorm_mode": "wrap", + "state_input": false, + "image_size_buckets": [ + [ + 320, + 180 + ], + [ + 280, + 210 + ] + ], + "effective_config": { + "datasets": { + "vla_data": { + "CoT_prompt": "Robot: AgileX, Action: Absolute joint. FPS: 15. Your task is {instruction}. To identify the key objects for your task. Locate their bounding boxes in [x1,y1,x2,y2] format.", + "action_mode": "abs", + "balance_dataset_weights": true, + "data_mix": "robotwin_all_wrap_32", + "data_root_dir": "./playground/Datasets/RoboTwin-All", + "dataset_py": "lerobot_datasets", + "image_size": [ + 224, + 224 + ], + "image_size_buckets": [ + [ + 320, + 180 + ], + [ + 280, + 210 + ] + ], + "per_device_batch_size": 16, + "sequential_step_sampling": false, + "video_backend": "pyav" + } + }, + "framework": { + "action_model": { + "action_dim": 14, + "action_hidden_dim": 2560, + "action_model_type": "DiT-B", + "future_action_window_size": 31, + "past_action_window_size": 0 + }, + "name": "QwenOFT", + "qwenvl": { + "base_vlm": "/models/Qwen3-VL-4B-Instruct-Action", + "attn_implementation": "sdpa" + } + }, + "output_dir": "./results/Checkpoints/VLAct_Qwen3OFT_Robotwin_all_Finetune", + "run_id": "VLAct_Qwen3OFT_Robotwin_all_Finetune", + "run_root_dir": "./results/Checkpoints", + "seed": 42, + "trainer": { + "eval_interval": 100, + "freeze_modules": true, + "gradient_accumulation_steps": 1, + "gradient_clipping": 1.0, + "is_resume": false, + "learning_rate": { + "action_model": 0.0001, + "base": 0.0001, + "qwen_vl_interface": 1e-05 + }, + "logging_frequency": 100, + "lr_scheduler_type": "cosine_with_min_lr", + "max_train_steps": 100000, + "num_warmup_steps": 5000, + "optimizer": { + "betas": [ + 0.9, + 0.95 + ], + "eps": 1e-08, + "weight_decay": 1e-08 + }, + "pretrained_checkpoint": null, + "random_init_action_model": true, + "reset_steps": true, + "save_interval": 20000, + "scheduler_specific_kwargs": { + "min_lr": 5e-07 + }, + "shortest_angular_joint_loss": true + }, + "wandb_entity": "your_name", + "wandb_project": "starVLA_Robotwin" + }, + "strict_weight_loading": true +} diff --git a/experiments/vlact-all-20261029/vlact-all-10/presentation/media-validation.json b/experiments/vlact-all-20261029/vlact-all-10/presentation/media-validation.json new file mode 100644 index 0000000000000000000000000000000000000000..34a2f5877eff91be408a5779370dfe4e74d0ff7f --- /dev/null +++ b/experiments/vlact-all-20261029/vlact-all-10/presentation/media-validation.json @@ -0,0 +1,31 @@ +{ + "speed": 4, + "speed_basis": "official 10 FPS action-index recording, not physical simulation time", + "playback_kind": "official_action_index", + "source_fps": 10, + "output_fps": 40, + "width": 2880, + "height": 720, + "duration_s": 2.775, + "native_frames": 111, + "published_frames": 111, + "decode_ok": true, + "sha256": "d4437d41eeeb02a5de67e8d153fc939050fdb2457283ba6e66da7591bd1d3bb4", + "source_sha256": "9d13602edeefb1bb8358f94a633f0ab8f0e9d9591d5dbcb6d4a2ae6baa2f7be4", + "head_frames_preserved": true, + "terminal_head_frame_recorded": true, + "wrist_sampling": "Inference observations only, held from their recorded native_step until the next inference. Final wrist observations can precede termination.", + "resolution_kind": "Native 320 x 240 RGB per view, upscaled to 960 x 720 for the reference layout", + "camera_order": [ + "head", + "left wrist", + "right wrist" + ], + "native_step_by_inference": [ + 0, + 32, + 64, + 96 + ], + "last_frame_note": "Successful runs include a post-action head frame; action-limit failures end on the last pre-action head frame. No new terminal frames were synthesized." +}