Upload folder using huggingface_hub
Browse files- .gitattributes +1 -0
- config.json +64 -0
- config_backup.json +81 -0
- experiment_cfg/metadata.json +2076 -0
- latest +1 -0
- model-00001-of-00002.safetensors +3 -0
- model-00002-of-00002.safetensors +3 -0
- model.safetensors.index.json +0 -0
- trainer_state.json +3 -0
- zero_to_fp32.py +604 -0
.gitattributes
CHANGED
@@ -33,3 +33,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
|
33 |
*.zip filter=lfs diff=lfs merge=lfs -text
|
34 |
*.zst filter=lfs diff=lfs merge=lfs -text
|
35 |
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
|
|
|
33 |
*.zip filter=lfs diff=lfs merge=lfs -text
|
34 |
*.zst filter=lfs diff=lfs merge=lfs -text
|
35 |
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
36 |
+
trainer_state.json filter=lfs diff=lfs merge=lfs -text
|
config.json
ADDED
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action_dim": 32,
|
3 |
+
"action_head_cfg": {
|
4 |
+
"action_dim": 32,
|
5 |
+
"action_horizon": 16,
|
6 |
+
"add_pos_embed": true,
|
7 |
+
"backbone_embedding_dim": 2048,
|
8 |
+
"diffusion_model_cfg": {
|
9 |
+
"attention_head_dim": 48,
|
10 |
+
"cross_attention_dim": 2048,
|
11 |
+
"dropout": 0.2,
|
12 |
+
"final_dropout": true,
|
13 |
+
"interleave_self_attention": true,
|
14 |
+
"norm_type": "ada_norm",
|
15 |
+
"num_attention_heads": 32,
|
16 |
+
"num_layers": 16,
|
17 |
+
"output_dim": 1024,
|
18 |
+
"positional_embeddings": null
|
19 |
+
},
|
20 |
+
"flare_layer": 12,
|
21 |
+
"flare_loss_coeff": 0.1,
|
22 |
+
"hidden_size": 1024,
|
23 |
+
"input_embedding_dim": 1536,
|
24 |
+
"max_action_dim": 32,
|
25 |
+
"max_state_dim": 64,
|
26 |
+
"model_dtype": "float32",
|
27 |
+
"noise_beta_alpha": 1.5,
|
28 |
+
"noise_beta_beta": 1.0,
|
29 |
+
"noise_s": 0.999,
|
30 |
+
"num_inference_timesteps": 4,
|
31 |
+
"num_target_vision_tokens": 32,
|
32 |
+
"num_timestep_buckets": 1000,
|
33 |
+
"tune_diffusion_model": true,
|
34 |
+
"tune_projector": true,
|
35 |
+
"use_vlln": true,
|
36 |
+
"vl_self_attention_cfg": {
|
37 |
+
"attention_head_dim": 64,
|
38 |
+
"dropout": 0.2,
|
39 |
+
"final_dropout": true,
|
40 |
+
"num_attention_heads": 32,
|
41 |
+
"num_layers": 4,
|
42 |
+
"positional_embeddings": null
|
43 |
+
}
|
44 |
+
},
|
45 |
+
"action_horizon": 16,
|
46 |
+
"architectures": [
|
47 |
+
"GR00T_N1_5"
|
48 |
+
],
|
49 |
+
"backbone_cfg": {
|
50 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1_7B-Siglip2_400M_stage1_5_128gpu_er_v7_1mlp_nops",
|
51 |
+
"load_bf16": false,
|
52 |
+
"project_to_dim": null,
|
53 |
+
"reproject_vision": false,
|
54 |
+
"select_layer": 12,
|
55 |
+
"tune_llm": false,
|
56 |
+
"tune_visual": true,
|
57 |
+
"use_flash_attention": true
|
58 |
+
},
|
59 |
+
"hidden_size": 2048,
|
60 |
+
"model_dtype": "float32",
|
61 |
+
"model_type": "gr00t_n1_5",
|
62 |
+
"torch_dtype": "bfloat16",
|
63 |
+
"transformers_version": "4.51.1"
|
64 |
+
}
|
config_backup.json
ADDED
@@ -0,0 +1,81 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"action_dim": 32,
|
3 |
+
"action_head_cfg": {
|
4 |
+
"_convert_": "object",
|
5 |
+
"_target_": "groot.model.dual_brain.module.action_head.diffusion_policy.groot_n1_5_flare.XEmbFlowmatchingWMPolicyHead",
|
6 |
+
"config": {
|
7 |
+
"_recursive_": false,
|
8 |
+
"_target_": "groot.model.dual_brain.module.action_head.diffusion_policy.groot_n1_5_flare.XEmbFlowmatchingWMPolicyHeadConfig",
|
9 |
+
"action_dim": 32,
|
10 |
+
"action_horizon": 16,
|
11 |
+
"add_pos_embed": true,
|
12 |
+
"backbone_embedding_dim": 2048,
|
13 |
+
"diffusion_model_cfg": {
|
14 |
+
"_target_": "groot.model.dual_brain.module.action_head.diffusion_policy.module.cross_attention_dit.DiT",
|
15 |
+
"attention_head_dim": 48,
|
16 |
+
"cross_attention_dim": 2048,
|
17 |
+
"dropout": 0.2,
|
18 |
+
"final_dropout": true,
|
19 |
+
"interleave_self_attention": true,
|
20 |
+
"norm_type": "ada_norm",
|
21 |
+
"num_attention_heads": 32,
|
22 |
+
"num_layers": 16,
|
23 |
+
"output_dim": 1024,
|
24 |
+
"positional_embeddings": null
|
25 |
+
},
|
26 |
+
"flare_layer": 12,
|
27 |
+
"flare_loss_coeff": 0.1,
|
28 |
+
"hidden_size": 1024,
|
29 |
+
"input_embedding_dim": 1536,
|
30 |
+
"max_action_dim": 32,
|
31 |
+
"max_state_dim": 64,
|
32 |
+
"model_dtype": "float32",
|
33 |
+
"noise_beta_alpha": 1.5,
|
34 |
+
"noise_beta_beta": 1.0,
|
35 |
+
"noise_s": 0.999,
|
36 |
+
"num_inference_timesteps": 4,
|
37 |
+
"num_target_vision_tokens": 32,
|
38 |
+
"num_timestep_buckets": 1000,
|
39 |
+
"pretrained_vl_tower_cfg": {
|
40 |
+
"_target_": "groot.model.dual_brain.module.action_head.diffusion_policy.module.qformer_vision_language_tower.Siglip2VLQFormer.from_pretrained",
|
41 |
+
"clamp": false,
|
42 |
+
"normalization_mode": null,
|
43 |
+
"pretrained_model_name_or_path": "/mnt/amlfs-02/shared/ruijiez/checkpoints/siglip2_vl_qformer_grootn1_5",
|
44 |
+
"vision_tower_stats_path": null
|
45 |
+
},
|
46 |
+
"tune_diffusion_model": true,
|
47 |
+
"tune_projector": true,
|
48 |
+
"use_vlln": true,
|
49 |
+
"vl_self_attention_cfg": {
|
50 |
+
"_target_": "groot.model.dual_brain.module.action_head.diffusion_policy.module.cross_attention_dit.SelfAttentionTransformer",
|
51 |
+
"attention_head_dim": 64,
|
52 |
+
"dropout": 0.2,
|
53 |
+
"final_dropout": true,
|
54 |
+
"num_attention_heads": 32,
|
55 |
+
"num_layers": 4,
|
56 |
+
"positional_embeddings": null
|
57 |
+
}
|
58 |
+
}
|
59 |
+
},
|
60 |
+
"action_horizon": 16,
|
61 |
+
"architectures": [
|
62 |
+
"DualBrain"
|
63 |
+
],
|
64 |
+
"backbone_cfg": {
|
65 |
+
"_target_": "groot.model.dual_brain.module.backbone.eagle2d5.Eagle2d5VLBackbone",
|
66 |
+
"eagle_path": "NVEagle/eagle_er-qwen3_1.7B-Siglip2_400M_stage1_5_128gpu_er_v6_1mlp_nops",
|
67 |
+
"load_bf16": false,
|
68 |
+
"project_to_dim": null,
|
69 |
+
"reproject_vision": false,
|
70 |
+
"select_layer": 12,
|
71 |
+
"tune_llm": false,
|
72 |
+
"tune_visual": true,
|
73 |
+
"use_flash_attention": true
|
74 |
+
},
|
75 |
+
"hidden_size": 2048,
|
76 |
+
"model_dtype": "float32",
|
77 |
+
"model_type": "dual_brain",
|
78 |
+
"resume_path": "/mnt/amlfs-02/shared/ruijiez/checkpoints/flare_groot_n1_5_300k_steps_0509",
|
79 |
+
"torch_dtype": "bfloat16",
|
80 |
+
"transformers_version": "4.51.1"
|
81 |
+
}
|
experiment_cfg/metadata.json
ADDED
@@ -0,0 +1,2076 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"gr1": {
|
3 |
+
"statistics": {
|
4 |
+
"state": {
|
5 |
+
"left_arm": {
|
6 |
+
"max": [
|
7 |
+
1.3570959568023682,
|
8 |
+
1.5781080722808838,
|
9 |
+
1.7425614595413208,
|
10 |
+
0.04977008327841759,
|
11 |
+
2.521491289138794,
|
12 |
+
1.5104753971099854,
|
13 |
+
1.3451268672943115
|
14 |
+
],
|
15 |
+
"min": [
|
16 |
+
-1.7593636512756348,
|
17 |
+
-0.08899051696062088,
|
18 |
+
-1.6571800708770752,
|
19 |
+
-2.516343355178833,
|
20 |
+
-2.307133436203003,
|
21 |
+
-1.4132264852523804,
|
22 |
+
-1.4408576488494873
|
23 |
+
],
|
24 |
+
"mean": [
|
25 |
+
-0.1721954196691514,
|
26 |
+
0.18329788744449615,
|
27 |
+
-0.1360361576080323,
|
28 |
+
-1.0807313919067383,
|
29 |
+
0.14450088143348713,
|
30 |
+
0.13195440173149092,
|
31 |
+
-0.08306947350502007
|
32 |
+
],
|
33 |
+
"std": [
|
34 |
+
0.4068214595317843,
|
35 |
+
0.18259239196777355,
|
36 |
+
0.2513278424739838,
|
37 |
+
0.5786943435668955,
|
38 |
+
0.33050763607025135,
|
39 |
+
0.28609949350357067,
|
40 |
+
0.3013432323932649
|
41 |
+
],
|
42 |
+
"q01": [
|
43 |
+
-1.6011584222316746,
|
44 |
+
-0.00048318122862838164,
|
45 |
+
-0.9488833963871,
|
46 |
+
-2.4362342357635502,
|
47 |
+
-0.9403592050075524,
|
48 |
+
-0.6489510446786882,
|
49 |
+
-0.9641011685132993
|
50 |
+
],
|
51 |
+
"q99": [
|
52 |
+
0.6305126994848259,
|
53 |
+
0.7966297268867486,
|
54 |
+
0.3873166218399999,
|
55 |
+
-0.07399308793246723,
|
56 |
+
1.0455405175685892,
|
57 |
+
0.8574009954929348,
|
58 |
+
0.4838866069912913
|
59 |
+
]
|
60 |
+
},
|
61 |
+
"left_hand": {
|
62 |
+
"max": [
|
63 |
+
2.8765757083892822,
|
64 |
+
2.6975045204162598,
|
65 |
+
3.3291828632354736,
|
66 |
+
2.7148845195770264,
|
67 |
+
3.664421558380127,
|
68 |
+
3.5466625690460205
|
69 |
+
],
|
70 |
+
"min": [
|
71 |
+
-3.262805700302124,
|
72 |
+
-2.7771592140197754,
|
73 |
+
-3.4712820053100586,
|
74 |
+
-2.7828404903411865,
|
75 |
+
-2.197380781173706,
|
76 |
+
-2.636387825012207
|
77 |
+
],
|
78 |
+
"mean": [
|
79 |
+
0.21940384805202476,
|
80 |
+
0.21819256246089933,
|
81 |
+
0.20426052808761605,
|
82 |
+
0.22833923995494854,
|
83 |
+
0.06841608136892328,
|
84 |
+
0.9091449975967411
|
85 |
+
],
|
86 |
+
"std": [
|
87 |
+
0.42784574627876293,
|
88 |
+
0.4130409955978396,
|
89 |
+
0.3710329830646513,
|
90 |
+
0.4229725301265714,
|
91 |
+
0.18603332340717335,
|
92 |
+
0.7297042012214684
|
93 |
+
],
|
94 |
+
"q01": [
|
95 |
+
-0.17130047902464876,
|
96 |
+
-0.0025680272374302166,
|
97 |
+
-0.0029985445667989555,
|
98 |
+
-0.002490740863140675,
|
99 |
+
-0.14894675761461273,
|
100 |
+
-0.00027310136792948466
|
101 |
+
],
|
102 |
+
"q99": [
|
103 |
+
1.5014824867248553,
|
104 |
+
1.501653671264647,
|
105 |
+
1.4043268024921445,
|
106 |
+
1.5127789616584784,
|
107 |
+
0.781709930300714,
|
108 |
+
1.872669064998624
|
109 |
+
]
|
110 |
+
},
|
111 |
+
"left_leg": {
|
112 |
+
"max": [
|
113 |
+
0.0,
|
114 |
+
0.0,
|
115 |
+
0.0,
|
116 |
+
0.0,
|
117 |
+
5.186659473110922e-05,
|
118 |
+
0.0
|
119 |
+
],
|
120 |
+
"min": [
|
121 |
+
0.0,
|
122 |
+
0.0,
|
123 |
+
0.0,
|
124 |
+
0.0,
|
125 |
+
-2.446335656713927e-06,
|
126 |
+
-1.6033794963732362e-05
|
127 |
+
],
|
128 |
+
"mean": [
|
129 |
+
0.0,
|
130 |
+
0.0,
|
131 |
+
0.0,
|
132 |
+
0.0,
|
133 |
+
7.689799531362961e-06,
|
134 |
+
-2.635196324263233e-06
|
135 |
+
],
|
136 |
+
"std": [
|
137 |
+
0.0,
|
138 |
+
0.0,
|
139 |
+
0.0,
|
140 |
+
0.0,
|
141 |
+
1.7361962818540636e-05,
|
142 |
+
5.299682925397068e-06
|
143 |
+
],
|
144 |
+
"q01": [
|
145 |
+
0.0,
|
146 |
+
0.0,
|
147 |
+
0.0,
|
148 |
+
0.0,
|
149 |
+
-2.4463356567139293e-06,
|
150 |
+
-1.6033794963732362e-05
|
151 |
+
],
|
152 |
+
"q99": [
|
153 |
+
0.0,
|
154 |
+
0.0,
|
155 |
+
0.0,
|
156 |
+
0.0,
|
157 |
+
5.186659473110924e-05,
|
158 |
+
0.0
|
159 |
+
]
|
160 |
+
},
|
161 |
+
"neck": {
|
162 |
+
"max": [
|
163 |
+
0.01535311620682478,
|
164 |
+
0.05556071177124977,
|
165 |
+
0.008969387039542198
|
166 |
+
],
|
167 |
+
"min": [
|
168 |
+
-0.23586410284042358,
|
169 |
+
-0.03865945711731911,
|
170 |
+
-0.06754876673221588
|
171 |
+
],
|
172 |
+
"mean": [
|
173 |
+
-0.0008622645400464534,
|
174 |
+
5.395126208895819e-05,
|
175 |
+
-0.00013521323853638004
|
176 |
+
],
|
177 |
+
"std": [
|
178 |
+
0.011963724158704286,
|
179 |
+
0.003479051403701308,
|
180 |
+
0.003105328651145102
|
181 |
+
],
|
182 |
+
"q01": [
|
183 |
+
-0.004923884291201831,
|
184 |
+
-0.0027977502904832337,
|
185 |
+
0.0
|
186 |
+
],
|
187 |
+
"q99": [
|
188 |
+
2.992488589370624e-06,
|
189 |
+
0.0002969176275655626,
|
190 |
+
0.0
|
191 |
+
]
|
192 |
+
},
|
193 |
+
"right_arm": {
|
194 |
+
"max": [
|
195 |
+
1.7399436235427856,
|
196 |
+
0.07876992970705032,
|
197 |
+
2.5426626205444336,
|
198 |
+
0.048908114433288574,
|
199 |
+
3.000918388366699,
|
200 |
+
1.4513440132141113,
|
201 |
+
1.5000383853912354
|
202 |
+
],
|
203 |
+
"min": [
|
204 |
+
-2.2743337154388428,
|
205 |
+
-2.999122142791748,
|
206 |
+
-1.7424250841140747,
|
207 |
+
-2.536545753479004,
|
208 |
+
-2.6034910678863525,
|
209 |
+
-1.5032434463500977,
|
210 |
+
-1.4913568496704102
|
211 |
+
],
|
212 |
+
"mean": [
|
213 |
+
-0.1590277999639513,
|
214 |
+
-0.2511773109436038,
|
215 |
+
0.08599518239498137,
|
216 |
+
-1.1420482397079474,
|
217 |
+
0.21259814500808735,
|
218 |
+
0.04237671568989762,
|
219 |
+
0.03427042067050932
|
220 |
+
],
|
221 |
+
"std": [
|
222 |
+
0.5631562471389767,
|
223 |
+
0.24450603127479503,
|
224 |
+
0.3282549381256103,
|
225 |
+
0.7310536503791792,
|
226 |
+
0.48139148950576843,
|
227 |
+
0.35611921548843384,
|
228 |
+
0.5090531110763546
|
229 |
+
],
|
230 |
+
"q01": [
|
231 |
+
-1.4233640372753156,
|
232 |
+
-1.0436977982521036,
|
233 |
+
-0.7169023394584662,
|
234 |
+
-2.4936094284057644,
|
235 |
+
-0.7377233326435084,
|
236 |
+
-0.8036172896623616,
|
237 |
+
-0.9991738587617871
|
238 |
+
],
|
239 |
+
"q99": [
|
240 |
+
1.167767405509949,
|
241 |
+
0.0006303858070168673,
|
242 |
+
0.8771779745817198,
|
243 |
+
-0.0582109544426202,
|
244 |
+
1.470731711387636,
|
245 |
+
0.8474899172782918,
|
246 |
+
1.2271583080291764
|
247 |
+
]
|
248 |
+
},
|
249 |
+
"right_hand": {
|
250 |
+
"max": [
|
251 |
+
2.397510290145874,
|
252 |
+
2.4422738552093506,
|
253 |
+
3.0158462524414062,
|
254 |
+
2.457378625869751,
|
255 |
+
1.4605257511138916,
|
256 |
+
2.168534278869629
|
257 |
+
],
|
258 |
+
"min": [
|
259 |
+
-1.7595213651657104,
|
260 |
+
-1.8982670307159424,
|
261 |
+
-1.8622381687164307,
|
262 |
+
-1.8314869403839111,
|
263 |
+
-1.0045679807662964,
|
264 |
+
-0.31411829590797424
|
265 |
+
],
|
266 |
+
"mean": [
|
267 |
+
0.34993353486061096,
|
268 |
+
0.3412855267524723,
|
269 |
+
0.3271332383155817,
|
270 |
+
0.3575766980648041,
|
271 |
+
0.09723818302154554,
|
272 |
+
1.0641368627548227
|
273 |
+
],
|
274 |
+
"std": [
|
275 |
+
0.49147421121597257,
|
276 |
+
0.46545258164405845,
|
277 |
+
0.44516301155090443,
|
278 |
+
0.4866269826889039,
|
279 |
+
0.1814946085214615,
|
280 |
+
0.5735033154487607
|
281 |
+
],
|
282 |
+
"q01": [
|
283 |
+
-0.004218762856908145,
|
284 |
+
-0.004575904295779761,
|
285 |
+
-0.005576773989014321,
|
286 |
+
-0.0047070790780708175,
|
287 |
+
-0.18967307358980165,
|
288 |
+
0.03200087323784828
|
289 |
+
],
|
290 |
+
"q99": [
|
291 |
+
1.4994217157363876,
|
292 |
+
1.5029035806655904,
|
293 |
+
1.6614551365375507,
|
294 |
+
1.5188306391239186,
|
295 |
+
0.6953653633594535,
|
296 |
+
1.8182492077350652
|
297 |
+
]
|
298 |
+
},
|
299 |
+
"right_leg": {
|
300 |
+
"max": [
|
301 |
+
0.0,
|
302 |
+
0.0,
|
303 |
+
0.0,
|
304 |
+
0.0,
|
305 |
+
5.369959126255708e-06,
|
306 |
+
0.0
|
307 |
+
],
|
308 |
+
"min": [
|
309 |
+
0.0,
|
310 |
+
0.0,
|
311 |
+
0.0,
|
312 |
+
0.0,
|
313 |
+
-2.446335656713927e-06,
|
314 |
+
-5.166131450096145e-05
|
315 |
+
],
|
316 |
+
"mean": [
|
317 |
+
0.0,
|
318 |
+
0.0,
|
319 |
+
0.0,
|
320 |
+
0.0,
|
321 |
+
8.152188684107393e-07,
|
322 |
+
-7.940252544358388e-06
|
323 |
+
],
|
324 |
+
"std": [
|
325 |
+
0.0,
|
326 |
+
0.0,
|
327 |
+
0.0,
|
328 |
+
0.0,
|
329 |
+
1.9208146113669496e-06,
|
330 |
+
1.7361962818540626e-05
|
331 |
+
],
|
332 |
+
"q01": [
|
333 |
+
0.0,
|
334 |
+
0.0,
|
335 |
+
0.0,
|
336 |
+
0.0,
|
337 |
+
-2.4463356567139293e-06,
|
338 |
+
-5.166131450096152e-05
|
339 |
+
],
|
340 |
+
"q99": [
|
341 |
+
0.0,
|
342 |
+
0.0,
|
343 |
+
0.0,
|
344 |
+
0.0,
|
345 |
+
5.36995912625571e-06,
|
346 |
+
0.0
|
347 |
+
]
|
348 |
+
},
|
349 |
+
"waist": {
|
350 |
+
"max": [
|
351 |
+
1.0323854684829712,
|
352 |
+
0.7102982997894287,
|
353 |
+
0.43762317299842834
|
354 |
+
],
|
355 |
+
"min": [
|
356 |
+
-0.8131351470947266,
|
357 |
+
-0.4901888370513916,
|
358 |
+
-0.7304351925849915
|
359 |
+
],
|
360 |
+
"mean": [
|
361 |
+
0.014510802924633035,
|
362 |
+
0.014398206025362044,
|
363 |
+
-0.00020241182937752458
|
364 |
+
],
|
365 |
+
"std": [
|
366 |
+
0.1227026358246804,
|
367 |
+
0.03244836255908008,
|
368 |
+
0.007282953243702651
|
369 |
+
],
|
370 |
+
"q01": [
|
371 |
+
-0.3365072563290599,
|
372 |
+
-0.02904987111687659,
|
373 |
+
-0.02606033049523827
|
374 |
+
],
|
375 |
+
"q99": [
|
376 |
+
0.48663658648729347,
|
377 |
+
0.12612193301320107,
|
378 |
+
0.022280203178524964
|
379 |
+
]
|
380 |
+
}
|
381 |
+
},
|
382 |
+
"action": {
|
383 |
+
"left_arm": {
|
384 |
+
"max": [
|
385 |
+
1.4113223552703857,
|
386 |
+
1.8901419639587402,
|
387 |
+
1.7754145860671997,
|
388 |
+
7.309383363462985e-05,
|
389 |
+
2.563594102859497,
|
390 |
+
1.5000243186950684,
|
391 |
+
1.4908421039581299
|
392 |
+
],
|
393 |
+
"min": [
|
394 |
+
-2.291214942932129,
|
395 |
+
-0.001746351015754044,
|
396 |
+
-2.4999990463256836,
|
397 |
+
-2.814260482788086,
|
398 |
+
-2.3611011505126953,
|
399 |
+
-1.4937989711761475,
|
400 |
+
-1.4969758987426758
|
401 |
+
],
|
402 |
+
"mean": [
|
403 |
+
-0.17771673202514657,
|
404 |
+
0.18351773917675007,
|
405 |
+
-0.13720993697643286,
|
406 |
+
-1.0842658281326296,
|
407 |
+
0.14675945043563873,
|
408 |
+
0.12921456992626204,
|
409 |
+
-0.09504522383213035
|
410 |
+
],
|
411 |
+
"std": [
|
412 |
+
0.4174487590789793,
|
413 |
+
0.18478454649448395,
|
414 |
+
0.25687918066978443,
|
415 |
+
0.5807053446769717,
|
416 |
+
0.33657354116439797,
|
417 |
+
0.29842707514762895,
|
418 |
+
0.31536528468132013
|
419 |
+
],
|
420 |
+
"q01": [
|
421 |
+
-1.6055770933628097,
|
422 |
+
-7.429541994952163e-07,
|
423 |
+
-0.9837155520915981,
|
424 |
+
-2.480029511451721,
|
425 |
+
-0.9457575023174288,
|
426 |
+
-0.7192997813224794,
|
427 |
+
-1.008323037624359
|
428 |
+
],
|
429 |
+
"q99": [
|
430 |
+
0.6335921049118061,
|
431 |
+
0.8018405169248585,
|
432 |
+
0.3930345878005033,
|
433 |
+
-0.06366106234490865,
|
434 |
+
1.0508334636688252,
|
435 |
+
0.8918659299612054,
|
436 |
+
0.5138001590967192
|
437 |
+
]
|
438 |
+
},
|
439 |
+
"left_hand": {
|
440 |
+
"max": [
|
441 |
+
1.5707963705062866,
|
442 |
+
1.646651268005371,
|
443 |
+
1.709236979484558,
|
444 |
+
2.0620639324188232,
|
445 |
+
3.0,
|
446 |
+
3.0
|
447 |
+
],
|
448 |
+
"min": [
|
449 |
+
-1.9597030878067017,
|
450 |
+
-1.8635213375091553,
|
451 |
+
-1.9709523916244507,
|
452 |
+
-1.5,
|
453 |
+
-3.0,
|
454 |
+
0.0
|
455 |
+
],
|
456 |
+
"mean": [
|
457 |
+
-0.22721463441848752,
|
458 |
+
-0.21956320106983204,
|
459 |
+
-0.2144497036933901,
|
460 |
+
-0.21446840465068817,
|
461 |
+
-0.48631641268730147,
|
462 |
+
1.6838233470916744
|
463 |
+
],
|
464 |
+
"std": [
|
465 |
+
1.0050891637802128,
|
466 |
+
1.0124161243438718,
|
467 |
+
1.0138051509857173,
|
468 |
+
1.0200439691543575,
|
469 |
+
2.066762685775758,
|
470 |
+
1.4588384628295925
|
471 |
+
],
|
472 |
+
"q01": [
|
473 |
+
-1.4999999999999987,
|
474 |
+
-1.4999999999999987,
|
475 |
+
-1.4999999999999987,
|
476 |
+
-1.4999999999999987,
|
477 |
+
-2.9999999999999973,
|
478 |
+
0.0
|
479 |
+
],
|
480 |
+
"q99": [
|
481 |
+
1.4999999999999987,
|
482 |
+
1.4999999999999987,
|
483 |
+
1.4999999999999987,
|
484 |
+
1.4999999999999987,
|
485 |
+
2.9999999999999973,
|
486 |
+
2.9999999999999973
|
487 |
+
]
|
488 |
+
},
|
489 |
+
"left_leg": {
|
490 |
+
"max": [
|
491 |
+
0.0,
|
492 |
+
0.0,
|
493 |
+
0.0,
|
494 |
+
0.0,
|
495 |
+
0.0,
|
496 |
+
0.0
|
497 |
+
],
|
498 |
+
"min": [
|
499 |
+
0.0,
|
500 |
+
0.0,
|
501 |
+
0.0,
|
502 |
+
0.0,
|
503 |
+
0.0,
|
504 |
+
0.0
|
505 |
+
],
|
506 |
+
"mean": [
|
507 |
+
0.0,
|
508 |
+
0.0,
|
509 |
+
0.0,
|
510 |
+
0.0,
|
511 |
+
0.0,
|
512 |
+
0.0
|
513 |
+
],
|
514 |
+
"std": [
|
515 |
+
0.0,
|
516 |
+
0.0,
|
517 |
+
0.0,
|
518 |
+
0.0,
|
519 |
+
0.0,
|
520 |
+
0.0
|
521 |
+
],
|
522 |
+
"q01": [
|
523 |
+
0.0,
|
524 |
+
0.0,
|
525 |
+
0.0,
|
526 |
+
0.0,
|
527 |
+
0.0,
|
528 |
+
0.0
|
529 |
+
],
|
530 |
+
"q99": [
|
531 |
+
0.0,
|
532 |
+
0.0,
|
533 |
+
0.0,
|
534 |
+
0.0,
|
535 |
+
0.0,
|
536 |
+
0.0
|
537 |
+
]
|
538 |
+
},
|
539 |
+
"neck": {
|
540 |
+
"max": [
|
541 |
+
0.0,
|
542 |
+
0.0,
|
543 |
+
0.0
|
544 |
+
],
|
545 |
+
"min": [
|
546 |
+
0.0,
|
547 |
+
0.0,
|
548 |
+
0.0
|
549 |
+
],
|
550 |
+
"mean": [
|
551 |
+
0.0,
|
552 |
+
0.0,
|
553 |
+
0.0
|
554 |
+
],
|
555 |
+
"std": [
|
556 |
+
0.0,
|
557 |
+
0.0,
|
558 |
+
0.0
|
559 |
+
],
|
560 |
+
"q01": [
|
561 |
+
0.0,
|
562 |
+
0.0,
|
563 |
+
0.0
|
564 |
+
],
|
565 |
+
"q99": [
|
566 |
+
0.0,
|
567 |
+
0.0,
|
568 |
+
0.0
|
569 |
+
]
|
570 |
+
},
|
571 |
+
"right_arm": {
|
572 |
+
"max": [
|
573 |
+
1.7834906578063965,
|
574 |
+
0.0002448999439366162,
|
575 |
+
2.549729585647583,
|
576 |
+
7.45560391806066e-05,
|
577 |
+
3.0000460147857666,
|
578 |
+
1.4975632429122925,
|
579 |
+
1.4998434782028198
|
580 |
+
],
|
581 |
+
"min": [
|
582 |
+
-2.318650960922241,
|
583 |
+
-2.9999561309814453,
|
584 |
+
-1.9257696866989136,
|
585 |
+
-2.8759055137634277,
|
586 |
+
-2.620600461959839,
|
587 |
+
-1.5001521110534668,
|
588 |
+
-1.4994292259216309
|
589 |
+
],
|
590 |
+
"mean": [
|
591 |
+
-0.16953834891319267,
|
592 |
+
-0.2535267770290373,
|
593 |
+
0.082216002047062,
|
594 |
+
-1.1492931842803968,
|
595 |
+
0.2176141738891601,
|
596 |
+
0.04310995712876314,
|
597 |
+
0.04133718833327294
|
598 |
+
],
|
599 |
+
"std": [
|
600 |
+
0.5752111673355106,
|
601 |
+
0.25846862792968733,
|
602 |
+
0.34115546941757197,
|
603 |
+
0.7394758462905866,
|
604 |
+
0.4870710670948032,
|
605 |
+
0.3721199631690978,
|
606 |
+
0.5423213839530941
|
607 |
+
],
|
608 |
+
"q01": [
|
609 |
+
-1.4375487387180332,
|
610 |
+
-1.0682010412216194,
|
611 |
+
-0.7535711079835895,
|
612 |
+
-2.6383612155914276,
|
613 |
+
-0.7471688866615306,
|
614 |
+
-0.8604200631380092,
|
615 |
+
-1.0900398135185252
|
616 |
+
],
|
617 |
+
"q99": [
|
618 |
+
1.1753968834876984,
|
619 |
+
-9.999999974752431e-07,
|
620 |
+
0.8976036489009875,
|
621 |
+
-0.0579521823674439,
|
622 |
+
1.4876463234424584,
|
623 |
+
0.8774339169263857,
|
624 |
+
1.4641386926174185
|
625 |
+
]
|
626 |
+
},
|
627 |
+
"right_hand": {
|
628 |
+
"max": [
|
629 |
+
1.5707963705062866,
|
630 |
+
1.7183797359466553,
|
631 |
+
3.979951858520508,
|
632 |
+
3.9879753589630127,
|
633 |
+
3.0,
|
634 |
+
3.0
|
635 |
+
],
|
636 |
+
"min": [
|
637 |
+
-1.5,
|
638 |
+
-1.5,
|
639 |
+
-1.5,
|
640 |
+
-1.5,
|
641 |
+
-3.0,
|
642 |
+
4.470348358154297e-08
|
643 |
+
],
|
644 |
+
"mean": [
|
645 |
+
-0.543570637702943,
|
646 |
+
-0.5304322242736823,
|
647 |
+
-0.5179098844528184,
|
648 |
+
-0.4968528747558592,
|
649 |
+
-1.1343770027160642,
|
650 |
+
2.128209590911863
|
651 |
+
],
|
652 |
+
"std": [
|
653 |
+
1.1248024702072141,
|
654 |
+
1.1392076015472405,
|
655 |
+
1.1426663398742682,
|
656 |
+
1.301862597465516,
|
657 |
+
2.199875354766848,
|
658 |
+
0.9186902642250119
|
659 |
+
],
|
660 |
+
"q01": [
|
661 |
+
-1.4999999999999987,
|
662 |
+
-1.4999999999999987,
|
663 |
+
-1.4999999999999987,
|
664 |
+
-1.4999999999999987,
|
665 |
+
-2.9999999999999973,
|
666 |
+
0.04336242545396091
|
667 |
+
],
|
668 |
+
"q99": [
|
669 |
+
1.4999999999999987,
|
670 |
+
1.4999999999999987,
|
671 |
+
1.4999999999999987,
|
672 |
+
1.4999999999999987,
|
673 |
+
2.9999999999999973,
|
674 |
+
2.9999999999999973
|
675 |
+
]
|
676 |
+
},
|
677 |
+
"right_leg": {
|
678 |
+
"max": [
|
679 |
+
0.0,
|
680 |
+
0.0,
|
681 |
+
0.0,
|
682 |
+
0.0,
|
683 |
+
0.0,
|
684 |
+
0.0
|
685 |
+
],
|
686 |
+
"min": [
|
687 |
+
0.0,
|
688 |
+
0.0,
|
689 |
+
0.0,
|
690 |
+
0.0,
|
691 |
+
0.0,
|
692 |
+
0.0
|
693 |
+
],
|
694 |
+
"mean": [
|
695 |
+
0.0,
|
696 |
+
0.0,
|
697 |
+
0.0,
|
698 |
+
0.0,
|
699 |
+
0.0,
|
700 |
+
0.0
|
701 |
+
],
|
702 |
+
"std": [
|
703 |
+
0.0,
|
704 |
+
0.0,
|
705 |
+
0.0,
|
706 |
+
0.0,
|
707 |
+
0.0,
|
708 |
+
0.0
|
709 |
+
],
|
710 |
+
"q01": [
|
711 |
+
0.0,
|
712 |
+
0.0,
|
713 |
+
0.0,
|
714 |
+
0.0,
|
715 |
+
0.0,
|
716 |
+
0.0
|
717 |
+
],
|
718 |
+
"q99": [
|
719 |
+
0.0,
|
720 |
+
0.0,
|
721 |
+
0.0,
|
722 |
+
0.0,
|
723 |
+
0.0,
|
724 |
+
0.0
|
725 |
+
]
|
726 |
+
},
|
727 |
+
"waist": {
|
728 |
+
"max": [
|
729 |
+
1.049119234085083,
|
730 |
+
0.6198405623435974,
|
731 |
+
0.45177245140075684
|
732 |
+
],
|
733 |
+
"min": [
|
734 |
+
-0.8292319774627686,
|
735 |
+
-0.5185094475746155,
|
736 |
+
-0.37811079621315
|
737 |
+
],
|
738 |
+
"mean": [
|
739 |
+
0.014836843125522158,
|
740 |
+
0.010428135283291354,
|
741 |
+
-0.00014937532250769447
|
742 |
+
],
|
743 |
+
"std": [
|
744 |
+
0.12568794190883642,
|
745 |
+
0.030695030465722098,
|
746 |
+
0.004574332851916548
|
747 |
+
],
|
748 |
+
"q01": [
|
749 |
+
-0.3402548208832736,
|
750 |
+
-0.025130789913237084,
|
751 |
+
-0.016220059804618367
|
752 |
+
],
|
753 |
+
"q99": [
|
754 |
+
0.49598969072103627,
|
755 |
+
0.12137954644858844,
|
756 |
+
0.010726323025301106
|
757 |
+
]
|
758 |
+
}
|
759 |
+
},
|
760 |
+
"total_trajectory_length": 3058702552,
|
761 |
+
"num_trajectories": 10987869
|
762 |
+
},
|
763 |
+
"modalities": {
|
764 |
+
"video": {
|
765 |
+
"ego_view": {
|
766 |
+
"resolution": [
|
767 |
+
256,
|
768 |
+
256
|
769 |
+
],
|
770 |
+
"channels": 3,
|
771 |
+
"fps": 20.0
|
772 |
+
}
|
773 |
+
},
|
774 |
+
"state": {
|
775 |
+
"left_arm": {
|
776 |
+
"absolute": true,
|
777 |
+
"rotation_type": null,
|
778 |
+
"shape": [
|
779 |
+
7
|
780 |
+
],
|
781 |
+
"continuous": true
|
782 |
+
},
|
783 |
+
"left_hand": {
|
784 |
+
"absolute": true,
|
785 |
+
"rotation_type": null,
|
786 |
+
"shape": [
|
787 |
+
6
|
788 |
+
],
|
789 |
+
"continuous": true
|
790 |
+
},
|
791 |
+
"left_leg": {
|
792 |
+
"absolute": true,
|
793 |
+
"rotation_type": null,
|
794 |
+
"shape": [
|
795 |
+
6
|
796 |
+
],
|
797 |
+
"continuous": true
|
798 |
+
},
|
799 |
+
"neck": {
|
800 |
+
"absolute": true,
|
801 |
+
"rotation_type": null,
|
802 |
+
"shape": [
|
803 |
+
3
|
804 |
+
],
|
805 |
+
"continuous": true
|
806 |
+
},
|
807 |
+
"right_arm": {
|
808 |
+
"absolute": true,
|
809 |
+
"rotation_type": null,
|
810 |
+
"shape": [
|
811 |
+
7
|
812 |
+
],
|
813 |
+
"continuous": true
|
814 |
+
},
|
815 |
+
"right_hand": {
|
816 |
+
"absolute": true,
|
817 |
+
"rotation_type": null,
|
818 |
+
"shape": [
|
819 |
+
6
|
820 |
+
],
|
821 |
+
"continuous": true
|
822 |
+
},
|
823 |
+
"right_leg": {
|
824 |
+
"absolute": true,
|
825 |
+
"rotation_type": null,
|
826 |
+
"shape": [
|
827 |
+
6
|
828 |
+
],
|
829 |
+
"continuous": true
|
830 |
+
},
|
831 |
+
"waist": {
|
832 |
+
"absolute": true,
|
833 |
+
"rotation_type": null,
|
834 |
+
"shape": [
|
835 |
+
3
|
836 |
+
],
|
837 |
+
"continuous": true
|
838 |
+
}
|
839 |
+
},
|
840 |
+
"action": {
|
841 |
+
"left_arm": {
|
842 |
+
"absolute": true,
|
843 |
+
"rotation_type": null,
|
844 |
+
"shape": [
|
845 |
+
7
|
846 |
+
],
|
847 |
+
"continuous": true
|
848 |
+
},
|
849 |
+
"left_hand": {
|
850 |
+
"absolute": true,
|
851 |
+
"rotation_type": null,
|
852 |
+
"shape": [
|
853 |
+
6
|
854 |
+
],
|
855 |
+
"continuous": true
|
856 |
+
},
|
857 |
+
"left_leg": {
|
858 |
+
"absolute": true,
|
859 |
+
"rotation_type": null,
|
860 |
+
"shape": [
|
861 |
+
6
|
862 |
+
],
|
863 |
+
"continuous": true
|
864 |
+
},
|
865 |
+
"neck": {
|
866 |
+
"absolute": true,
|
867 |
+
"rotation_type": null,
|
868 |
+
"shape": [
|
869 |
+
3
|
870 |
+
],
|
871 |
+
"continuous": true
|
872 |
+
},
|
873 |
+
"right_arm": {
|
874 |
+
"absolute": true,
|
875 |
+
"rotation_type": null,
|
876 |
+
"shape": [
|
877 |
+
7
|
878 |
+
],
|
879 |
+
"continuous": true
|
880 |
+
},
|
881 |
+
"right_hand": {
|
882 |
+
"absolute": true,
|
883 |
+
"rotation_type": null,
|
884 |
+
"shape": [
|
885 |
+
6
|
886 |
+
],
|
887 |
+
"continuous": true
|
888 |
+
},
|
889 |
+
"right_leg": {
|
890 |
+
"absolute": true,
|
891 |
+
"rotation_type": null,
|
892 |
+
"shape": [
|
893 |
+
6
|
894 |
+
],
|
895 |
+
"continuous": true
|
896 |
+
},
|
897 |
+
"waist": {
|
898 |
+
"absolute": true,
|
899 |
+
"rotation_type": null,
|
900 |
+
"shape": [
|
901 |
+
3
|
902 |
+
],
|
903 |
+
"continuous": true
|
904 |
+
}
|
905 |
+
},
|
906 |
+
"annotation": {
|
907 |
+
"human": [
|
908 |
+
"action.verb",
|
909 |
+
"action.object",
|
910 |
+
"action.start_location",
|
911 |
+
"action.end_location",
|
912 |
+
"action.hand",
|
913 |
+
"action.rating",
|
914 |
+
"action.failure_code",
|
915 |
+
"action.remarks",
|
916 |
+
"coarse_action",
|
917 |
+
"fine_action",
|
918 |
+
"validity"
|
919 |
+
]
|
920 |
+
}
|
921 |
+
},
|
922 |
+
"embodiment_tag": "gr1"
|
923 |
+
},
|
924 |
+
"oxe_droid": {
|
925 |
+
"statistics": {
|
926 |
+
"state": {
|
927 |
+
"eef_position": {
|
928 |
+
"max": [
|
929 |
+
0.8575563430786133,
|
930 |
+
0.8196876049041748,
|
931 |
+
1.0111403465270996
|
932 |
+
],
|
933 |
+
"min": [
|
934 |
+
-0.22192564606666565,
|
935 |
+
-0.827903687953949,
|
936 |
+
-0.24001094698905945
|
937 |
+
],
|
938 |
+
"mean": [
|
939 |
+
0.5301029682159424,
|
940 |
+
0.0006127175875008106,
|
941 |
+
0.3208114504814148
|
942 |
+
],
|
943 |
+
"std": [
|
944 |
+
0.11526046693325043,
|
945 |
+
0.17508766055107117,
|
946 |
+
0.16157574951648712
|
947 |
+
],
|
948 |
+
"q01": [
|
949 |
+
0.26736209958791735,
|
950 |
+
-0.4401703763008118,
|
951 |
+
-0.0427810287475586
|
952 |
+
],
|
953 |
+
"q99": [
|
954 |
+
0.7802324891090393,
|
955 |
+
0.4409394279122357,
|
956 |
+
0.782760812044144
|
957 |
+
]
|
958 |
+
},
|
959 |
+
"eef_rotation": {
|
960 |
+
"max": [
|
961 |
+
3.1415927410125732,
|
962 |
+
1.5705928802490234,
|
963 |
+
3.1415927410125732
|
964 |
+
],
|
965 |
+
"min": [
|
966 |
+
-3.141592502593994,
|
967 |
+
-1.5703768730163574,
|
968 |
+
-3.141563653945923
|
969 |
+
],
|
970 |
+
"mean": [
|
971 |
+
0.3172215521335602,
|
972 |
+
-0.09119903296232224,
|
973 |
+
-0.05301975458860397
|
974 |
+
],
|
975 |
+
"std": [
|
976 |
+
2.781412363052368,
|
977 |
+
0.34485235810279846,
|
978 |
+
0.7496558427810669
|
979 |
+
],
|
980 |
+
"q01": [
|
981 |
+
-3.1375010013580322,
|
982 |
+
-1.2102844715118408,
|
983 |
+
-2.1374536204338073
|
984 |
+
],
|
985 |
+
"q99": [
|
986 |
+
3.137559413909912,
|
987 |
+
0.8736653280258189,
|
988 |
+
2.0176499319076573
|
989 |
+
]
|
990 |
+
},
|
991 |
+
"gripper_position": {
|
992 |
+
"max": [
|
993 |
+
1.0
|
994 |
+
],
|
995 |
+
"min": [
|
996 |
+
0.0
|
997 |
+
],
|
998 |
+
"mean": [
|
999 |
+
0.37953677773475647
|
1000 |
+
],
|
1001 |
+
"std": [
|
1002 |
+
0.418218731880188
|
1003 |
+
],
|
1004 |
+
"q01": [
|
1005 |
+
0.0
|
1006 |
+
],
|
1007 |
+
"q99": [
|
1008 |
+
0.9911894202232361
|
1009 |
+
]
|
1010 |
+
},
|
1011 |
+
"joint_position": {
|
1012 |
+
"max": [
|
1013 |
+
2.6687583923339844,
|
1014 |
+
1.5840554237365723,
|
1015 |
+
2.6957037448883057,
|
1016 |
+
-0.29779934883117676,
|
1017 |
+
2.6624162197113037,
|
1018 |
+
4.28157901763916,
|
1019 |
+
2.755643367767334
|
1020 |
+
],
|
1021 |
+
"min": [
|
1022 |
+
-2.664970874786377,
|
1023 |
+
-1.6156227588653564,
|
1024 |
+
-2.680800676345825,
|
1025 |
+
-2.9409868717193604,
|
1026 |
+
-2.6705946922302246,
|
1027 |
+
0.24893812835216522,
|
1028 |
+
-2.761866807937622
|
1029 |
+
],
|
1030 |
+
"mean": [
|
1031 |
+
0.015112307853996754,
|
1032 |
+
0.2475655972957611,
|
1033 |
+
-0.015541581436991692,
|
1034 |
+
-2.0761396884918213,
|
1035 |
+
-0.03723751753568649,
|
1036 |
+
2.5374062061309814,
|
1037 |
+
0.08577312529087067
|
1038 |
+
],
|
1039 |
+
"std": [
|
1040 |
+
0.31826168298721313,
|
1041 |
+
0.4946194291114807,
|
1042 |
+
0.2835463881492615,
|
1043 |
+
0.4799663722515106,
|
1044 |
+
0.5096911191940308,
|
1045 |
+
0.4861564040184021,
|
1046 |
+
0.7239381670951843
|
1047 |
+
],
|
1048 |
+
"q01": [
|
1049 |
+
-0.9358840203285217,
|
1050 |
+
-0.8845126914978028,
|
1051 |
+
-0.9516998279094696,
|
1052 |
+
-2.7735876727104185,
|
1053 |
+
-1.8058055281639098,
|
1054 |
+
1.211466405391693,
|
1055 |
+
-2.089151668548584
|
1056 |
+
],
|
1057 |
+
"q99": [
|
1058 |
+
0.9981055355072064,
|
1059 |
+
1.4211456155776983,
|
1060 |
+
0.8372088992595699,
|
1061 |
+
-0.44636924982070836,
|
1062 |
+
1.6697174942493462,
|
1063 |
+
3.470238385200501,
|
1064 |
+
2.2241294598579424
|
1065 |
+
]
|
1066 |
+
}
|
1067 |
+
},
|
1068 |
+
"action": {
|
1069 |
+
"eef_position": {
|
1070 |
+
"max": [
|
1071 |
+
0.9295652508735657,
|
1072 |
+
0.8648782968521118,
|
1073 |
+
1.074978232383728
|
1074 |
+
],
|
1075 |
+
"min": [
|
1076 |
+
-0.22296355664730072,
|
1077 |
+
-0.8572492003440857,
|
1078 |
+
-0.3079752027988434
|
1079 |
+
],
|
1080 |
+
"mean": [
|
1081 |
+
0.5333008766174316,
|
1082 |
+
0.00040175949106924236,
|
1083 |
+
0.32263845205307007
|
1084 |
+
],
|
1085 |
+
"std": [
|
1086 |
+
0.11593657732009888,
|
1087 |
+
0.17602738738059998,
|
1088 |
+
0.16214896738529205
|
1089 |
+
],
|
1090 |
+
"q01": [
|
1091 |
+
0.2653030273318291,
|
1092 |
+
-0.44295967668294906,
|
1093 |
+
-0.04580880187451839
|
1094 |
+
],
|
1095 |
+
"q99": [
|
1096 |
+
0.792060375213623,
|
1097 |
+
0.44292682290077234,
|
1098 |
+
0.7875395911931997
|
1099 |
+
]
|
1100 |
+
},
|
1101 |
+
"eef_rotation": {
|
1102 |
+
"max": [
|
1103 |
+
3.1415927410125732,
|
1104 |
+
1.5702463388442993,
|
1105 |
+
3.1415891647338867
|
1106 |
+
],
|
1107 |
+
"min": [
|
1108 |
+
-3.141592502593994,
|
1109 |
+
-1.570475697517395,
|
1110 |
+
-3.1415903568267822
|
1111 |
+
],
|
1112 |
+
"mean": [
|
1113 |
+
0.30634260177612305,
|
1114 |
+
-0.09434697777032852,
|
1115 |
+
-0.05444207414984703
|
1116 |
+
],
|
1117 |
+
"std": [
|
1118 |
+
2.7942583560943604,
|
1119 |
+
0.3476769030094147,
|
1120 |
+
0.756449818611145
|
1121 |
+
],
|
1122 |
+
"q01": [
|
1123 |
+
-3.1374151706695557,
|
1124 |
+
-1.2160829985141755,
|
1125 |
+
-2.1517505979537965
|
1126 |
+
],
|
1127 |
+
"q99": [
|
1128 |
+
3.1374621391296387,
|
1129 |
+
0.8804873836040525,
|
1130 |
+
2.0309575748443613
|
1131 |
+
]
|
1132 |
+
},
|
1133 |
+
"eef_position_delta": {
|
1134 |
+
"max": [
|
1135 |
+
0.9999998211860657,
|
1136 |
+
0.999991774559021,
|
1137 |
+
0.9999973177909851
|
1138 |
+
],
|
1139 |
+
"min": [
|
1140 |
+
-0.9999999403953552,
|
1141 |
+
-0.9999951124191284,
|
1142 |
+
-0.9999960660934448
|
1143 |
+
],
|
1144 |
+
"mean": [
|
1145 |
+
0.024281756952404976,
|
1146 |
+
-0.002875920385122299,
|
1147 |
+
0.018233448266983032
|
1148 |
+
],
|
1149 |
+
"std": [
|
1150 |
+
0.25211915373802185,
|
1151 |
+
0.18553106486797333,
|
1152 |
+
0.2270297408103943
|
1153 |
+
],
|
1154 |
+
"q01": [
|
1155 |
+
-0.7671820366382599,
|
1156 |
+
-0.5812531012296677,
|
1157 |
+
-0.5680612689256668
|
1158 |
+
],
|
1159 |
+
"q99": [
|
1160 |
+
0.7328272181749356,
|
1161 |
+
0.5705102401971829,
|
1162 |
+
0.734496554732323
|
1163 |
+
]
|
1164 |
+
},
|
1165 |
+
"eef_rotation_delta": {
|
1166 |
+
"max": [
|
1167 |
+
0.9999874830245972,
|
1168 |
+
0.9999954104423523,
|
1169 |
+
0.9999998807907104
|
1170 |
+
],
|
1171 |
+
"min": [
|
1172 |
+
-0.9999980330467224,
|
1173 |
+
-0.9999979734420776,
|
1174 |
+
-0.9999998807907104
|
1175 |
+
],
|
1176 |
+
"mean": [
|
1177 |
+
0.0038623453583568335,
|
1178 |
+
-0.03020404651761055,
|
1179 |
+
-0.007724778726696968
|
1180 |
+
],
|
1181 |
+
"std": [
|
1182 |
+
0.21981821954250336,
|
1183 |
+
0.22736550867557526,
|
1184 |
+
0.29116934537887573
|
1185 |
+
],
|
1186 |
+
"q01": [
|
1187 |
+
-0.6462401157617569,
|
1188 |
+
-0.6986615788936615,
|
1189 |
+
-0.8940888077020646
|
1190 |
+
],
|
1191 |
+
"q99": [
|
1192 |
+
0.6701276439428347,
|
1193 |
+
0.6458621937036526,
|
1194 |
+
0.8935507464408889
|
1195 |
+
]
|
1196 |
+
},
|
1197 |
+
"gripper_position": {
|
1198 |
+
"max": [
|
1199 |
+
1.0
|
1200 |
+
],
|
1201 |
+
"min": [
|
1202 |
+
0.0
|
1203 |
+
],
|
1204 |
+
"mean": [
|
1205 |
+
0.4207580089569092
|
1206 |
+
],
|
1207 |
+
"std": [
|
1208 |
+
0.4379017651081085
|
1209 |
+
],
|
1210 |
+
"q01": [
|
1211 |
+
0.0
|
1212 |
+
],
|
1213 |
+
"q99": [
|
1214 |
+
1.0
|
1215 |
+
]
|
1216 |
+
},
|
1217 |
+
"gripper_velocity": {
|
1218 |
+
"max": [
|
1219 |
+
1.0
|
1220 |
+
],
|
1221 |
+
"min": [
|
1222 |
+
-1.0
|
1223 |
+
],
|
1224 |
+
"mean": [
|
1225 |
+
0.15944316983222961
|
1226 |
+
],
|
1227 |
+
"std": [
|
1228 |
+
0.43238747119903564
|
1229 |
+
],
|
1230 |
+
"q01": [
|
1231 |
+
-1.0
|
1232 |
+
],
|
1233 |
+
"q99": [
|
1234 |
+
1.0
|
1235 |
+
]
|
1236 |
+
},
|
1237 |
+
"joint_position": {
|
1238 |
+
"max": [
|
1239 |
+
2.751160144805908,
|
1240 |
+
1.6689813137054443,
|
1241 |
+
2.769918203353882,
|
1242 |
+
-0.1839631199836731,
|
1243 |
+
2.781451463699341,
|
1244 |
+
4.402013778686523,
|
1245 |
+
2.90183162689209
|
1246 |
+
],
|
1247 |
+
"min": [
|
1248 |
+
-2.781099557876587,
|
1249 |
+
-1.6407934427261353,
|
1250 |
+
-2.772181749343872,
|
1251 |
+
-2.9508564472198486,
|
1252 |
+
-2.7826988697052,
|
1253 |
+
0.17761151492595673,
|
1254 |
+
-2.901715040206909
|
1255 |
+
],
|
1256 |
+
"mean": [
|
1257 |
+
0.014264222234487534,
|
1258 |
+
0.2525460422039032,
|
1259 |
+
-0.015149222686886787,
|
1260 |
+
-2.0662245750427246,
|
1261 |
+
-0.03706594184041023,
|
1262 |
+
2.540250778198242,
|
1263 |
+
0.08673430979251862
|
1264 |
+
],
|
1265 |
+
"std": [
|
1266 |
+
0.32145625352859497,
|
1267 |
+
0.48973745107650757,
|
1268 |
+
0.28499534726142883,
|
1269 |
+
0.48280277848243713,
|
1270 |
+
0.5151209831237793,
|
1271 |
+
0.48979467153549194,
|
1272 |
+
0.7301526665687561
|
1273 |
+
],
|
1274 |
+
"q01": [
|
1275 |
+
-0.9461821579933166,
|
1276 |
+
-0.8763976156711578,
|
1277 |
+
-0.9654564934968948,
|
1278 |
+
-2.775611162185669,
|
1279 |
+
-1.8216787135601042,
|
1280 |
+
1.1957919597625732,
|
1281 |
+
-2.104389636516571
|
1282 |
+
],
|
1283 |
+
"q99": [
|
1284 |
+
1.0098848557472246,
|
1285 |
+
1.4265497767925264,
|
1286 |
+
0.8507625281810767,
|
1287 |
+
-0.43711905986070543,
|
1288 |
+
1.6865044832229614,
|
1289 |
+
3.484763395786289,
|
1290 |
+
2.236884739398957
|
1291 |
+
]
|
1292 |
+
},
|
1293 |
+
"joint_velocity": {
|
1294 |
+
"max": [
|
1295 |
+
1.0,
|
1296 |
+
1.0,
|
1297 |
+
1.0,
|
1298 |
+
1.0,
|
1299 |
+
1.0,
|
1300 |
+
1.0,
|
1301 |
+
1.0
|
1302 |
+
],
|
1303 |
+
"min": [
|
1304 |
+
-1.0,
|
1305 |
+
-1.0,
|
1306 |
+
-1.0,
|
1307 |
+
-1.0,
|
1308 |
+
-1.0,
|
1309 |
+
-1.0,
|
1310 |
+
-1.0
|
1311 |
+
],
|
1312 |
+
"mean": [
|
1313 |
+
-0.004510974511504173,
|
1314 |
+
0.014339218847453594,
|
1315 |
+
0.002262236550450325,
|
1316 |
+
0.030354879796504974,
|
1317 |
+
0.0012928518699482083,
|
1318 |
+
-0.0006219720817171037,
|
1319 |
+
0.0033850965555757284
|
1320 |
+
],
|
1321 |
+
"std": [
|
1322 |
+
0.14949378371238708,
|
1323 |
+
0.28983473777770996,
|
1324 |
+
0.14525704085826874,
|
1325 |
+
0.2843790650367737,
|
1326 |
+
0.20957471430301666,
|
1327 |
+
0.23092615604400635,
|
1328 |
+
0.24950972199440002
|
1329 |
+
],
|
1330 |
+
"q01": [
|
1331 |
+
-0.45862655848264694,
|
1332 |
+
-0.8009099239110946,
|
1333 |
+
-0.4387282380461693,
|
1334 |
+
-0.9120300930738449,
|
1335 |
+
-0.6156043213605881,
|
1336 |
+
-0.6251490712165833,
|
1337 |
+
-0.7382495331764221
|
1338 |
+
],
|
1339 |
+
"q99": [
|
1340 |
+
0.4423619061708466,
|
1341 |
+
0.7657521367073059,
|
1342 |
+
0.44984547525644436,
|
1343 |
+
0.7899917733669297,
|
1344 |
+
0.6237488234043123,
|
1345 |
+
0.6614942812919624,
|
1346 |
+
0.7097782391309744
|
1347 |
+
]
|
1348 |
+
}
|
1349 |
+
},
|
1350 |
+
"total_trajectory_length": 240,
|
1351 |
+
"num_trajectories": 76500
|
1352 |
+
},
|
1353 |
+
"modalities": {
|
1354 |
+
"video": {
|
1355 |
+
"exterior_image_1_left_pad_res256_freq15": {
|
1356 |
+
"resolution": [
|
1357 |
+
256,
|
1358 |
+
256
|
1359 |
+
],
|
1360 |
+
"channels": 3,
|
1361 |
+
"fps": 15.0
|
1362 |
+
},
|
1363 |
+
"exterior_image_2_left_pad_res256_freq15": {
|
1364 |
+
"resolution": [
|
1365 |
+
256,
|
1366 |
+
256
|
1367 |
+
],
|
1368 |
+
"channels": 3,
|
1369 |
+
"fps": 15.0
|
1370 |
+
},
|
1371 |
+
"wrist_image_left_pad_res256_freq15": {
|
1372 |
+
"resolution": [
|
1373 |
+
256,
|
1374 |
+
256
|
1375 |
+
],
|
1376 |
+
"channels": 3,
|
1377 |
+
"fps": 15.0
|
1378 |
+
}
|
1379 |
+
},
|
1380 |
+
"state": {
|
1381 |
+
"eef_position": {
|
1382 |
+
"absolute": true,
|
1383 |
+
"rotation_type": null,
|
1384 |
+
"shape": [
|
1385 |
+
3
|
1386 |
+
],
|
1387 |
+
"continuous": true
|
1388 |
+
},
|
1389 |
+
"eef_rotation": {
|
1390 |
+
"absolute": true,
|
1391 |
+
"rotation_type": "euler_angles_rpy",
|
1392 |
+
"shape": [
|
1393 |
+
3
|
1394 |
+
],
|
1395 |
+
"continuous": true
|
1396 |
+
},
|
1397 |
+
"gripper_position": {
|
1398 |
+
"absolute": true,
|
1399 |
+
"rotation_type": null,
|
1400 |
+
"shape": [
|
1401 |
+
1
|
1402 |
+
],
|
1403 |
+
"continuous": true
|
1404 |
+
},
|
1405 |
+
"joint_position": {
|
1406 |
+
"absolute": true,
|
1407 |
+
"rotation_type": null,
|
1408 |
+
"shape": [
|
1409 |
+
7
|
1410 |
+
],
|
1411 |
+
"continuous": true
|
1412 |
+
}
|
1413 |
+
},
|
1414 |
+
"action": {
|
1415 |
+
"eef_position": {
|
1416 |
+
"absolute": true,
|
1417 |
+
"rotation_type": null,
|
1418 |
+
"shape": [
|
1419 |
+
3
|
1420 |
+
],
|
1421 |
+
"continuous": true
|
1422 |
+
},
|
1423 |
+
"eef_rotation": {
|
1424 |
+
"absolute": true,
|
1425 |
+
"rotation_type": "euler_angles_rpy",
|
1426 |
+
"shape": [
|
1427 |
+
3
|
1428 |
+
],
|
1429 |
+
"continuous": true
|
1430 |
+
},
|
1431 |
+
"eef_position_delta": {
|
1432 |
+
"absolute": false,
|
1433 |
+
"rotation_type": null,
|
1434 |
+
"shape": [
|
1435 |
+
3
|
1436 |
+
],
|
1437 |
+
"continuous": true
|
1438 |
+
},
|
1439 |
+
"eef_rotation_delta": {
|
1440 |
+
"absolute": false,
|
1441 |
+
"rotation_type": "euler_angles_rpy",
|
1442 |
+
"shape": [
|
1443 |
+
3
|
1444 |
+
],
|
1445 |
+
"continuous": true
|
1446 |
+
},
|
1447 |
+
"gripper_position": {
|
1448 |
+
"absolute": true,
|
1449 |
+
"rotation_type": null,
|
1450 |
+
"shape": [
|
1451 |
+
1
|
1452 |
+
],
|
1453 |
+
"continuous": true
|
1454 |
+
},
|
1455 |
+
"gripper_velocity": {
|
1456 |
+
"absolute": true,
|
1457 |
+
"rotation_type": null,
|
1458 |
+
"shape": [
|
1459 |
+
1
|
1460 |
+
],
|
1461 |
+
"continuous": true
|
1462 |
+
},
|
1463 |
+
"joint_position": {
|
1464 |
+
"absolute": true,
|
1465 |
+
"rotation_type": null,
|
1466 |
+
"shape": [
|
1467 |
+
7
|
1468 |
+
],
|
1469 |
+
"continuous": true
|
1470 |
+
},
|
1471 |
+
"joint_velocity": {
|
1472 |
+
"absolute": true,
|
1473 |
+
"rotation_type": null,
|
1474 |
+
"shape": [
|
1475 |
+
7
|
1476 |
+
],
|
1477 |
+
"continuous": true
|
1478 |
+
}
|
1479 |
+
},
|
1480 |
+
"annotation": {
|
1481 |
+
"language": [
|
1482 |
+
"language_instruction",
|
1483 |
+
"language_instruction_2",
|
1484 |
+
"language_instruction_3"
|
1485 |
+
]
|
1486 |
+
}
|
1487 |
+
},
|
1488 |
+
"embodiment_tag": "oxe_droid"
|
1489 |
+
},
|
1490 |
+
"agibot": {
|
1491 |
+
"statistics": {
|
1492 |
+
"state": {
|
1493 |
+
"left_arm_joint_position": {
|
1494 |
+
"max": [
|
1495 |
+
2.8758695125579834,
|
1496 |
+
1.9940129518508911,
|
1497 |
+
3.1370127201080322,
|
1498 |
+
1.4812432527542114,
|
1499 |
+
3.139925003051758,
|
1500 |
+
1.7610539197921753,
|
1501 |
+
3.1404590606689453
|
1502 |
+
],
|
1503 |
+
"min": [
|
1504 |
+
-2.966796636581421,
|
1505 |
+
-1.9090405702590942,
|
1506 |
+
-2.994210958480835,
|
1507 |
+
-1.4968260526657104,
|
1508 |
+
-3.143338441848755,
|
1509 |
+
-1.7474952936172485,
|
1510 |
+
-3.140000104904175
|
1511 |
+
],
|
1512 |
+
"mean": [
|
1513 |
+
-0.5825905799865723,
|
1514 |
+
0.3457416296005249,
|
1515 |
+
0.4395892322063446,
|
1516 |
+
-0.3457416296005249,
|
1517 |
+
0.35607415437698364,
|
1518 |
+
0.3457416296005249,
|
1519 |
+
0.053289320319890976
|
1520 |
+
],
|
1521 |
+
"std": [
|
1522 |
+
0.7518633008003235,
|
1523 |
+
0.5130977630615234,
|
1524 |
+
0.6901939511299133,
|
1525 |
+
0.5059813261032104,
|
1526 |
+
0.4821229875087738,
|
1527 |
+
0.5896104574203491,
|
1528 |
+
0.7191146016120911
|
1529 |
+
],
|
1530 |
+
"q01": [
|
1531 |
+
-2.364172456264496,
|
1532 |
+
-1.2625716614723206,
|
1533 |
+
-1.2713254690170288,
|
1534 |
+
-1.47836434841156,
|
1535 |
+
-0.5956208109855652,
|
1536 |
+
-0.004502099938690662,
|
1537 |
+
-2.323017120361328
|
1538 |
+
],
|
1539 |
+
"q99": [
|
1540 |
+
1.5946508646011353,
|
1541 |
+
1.5619078862667077,
|
1542 |
+
2.279411551952361,
|
1543 |
+
0.0322999507188797,
|
1544 |
+
1.8872510194778442,
|
1545 |
+
1.7200289964675903,
|
1546 |
+
1.6950677609443652
|
1547 |
+
]
|
1548 |
+
},
|
1549 |
+
"right_arm_joint_position": {
|
1550 |
+
"max": [
|
1551 |
+
3.140000104904175,
|
1552 |
+
1.8658112287521362,
|
1553 |
+
3.1351795196533203,
|
1554 |
+
1.5650031566619873,
|
1555 |
+
3.1516618728637695,
|
1556 |
+
1.7467623949050903,
|
1557 |
+
3.140075206756592
|
1558 |
+
],
|
1559 |
+
"min": [
|
1560 |
+
-2.8576574325561523,
|
1561 |
+
-2.0087313652038574,
|
1562 |
+
-3.140000104904175,
|
1563 |
+
-1.4823949337005615,
|
1564 |
+
-3.1418726444244385,
|
1565 |
+
-1.7603733539581299,
|
1566 |
+
-3.140000104904175
|
1567 |
+
],
|
1568 |
+
"mean": [
|
1569 |
+
0.6057695746421814,
|
1570 |
+
-0.34574297070503235,
|
1571 |
+
-0.4090537130832672,
|
1572 |
+
0.3457416296005249,
|
1573 |
+
-0.3463795781135559,
|
1574 |
+
-0.3457416296005249,
|
1575 |
+
0.014872349798679352
|
1576 |
+
],
|
1577 |
+
"std": [
|
1578 |
+
0.770484983921051,
|
1579 |
+
0.4891981780529022,
|
1580 |
+
0.7010146975517273,
|
1581 |
+
0.5284842252731323,
|
1582 |
+
0.4678402543067932,
|
1583 |
+
0.5902491211891174,
|
1584 |
+
0.6703789234161377
|
1585 |
+
],
|
1586 |
+
"q01": [
|
1587 |
+
-1.4295430171489716,
|
1588 |
+
-1.549558162689209,
|
1589 |
+
-2.12818288564682,
|
1590 |
+
-0.00530660115648061,
|
1591 |
+
-1.7935223531723024,
|
1592 |
+
-1.7253836393356323,
|
1593 |
+
-1.5423394405841828
|
1594 |
+
],
|
1595 |
+
"q99": [
|
1596 |
+
2.3075180053710938,
|
1597 |
+
1.1316230213642076,
|
1598 |
+
1.4279094922542566,
|
1599 |
+
1.4798182249069214,
|
1600 |
+
0.6721548426151269,
|
1601 |
+
0.08709267988800451,
|
1602 |
+
2.257192373275757
|
1603 |
+
]
|
1604 |
+
},
|
1605 |
+
"left_effector_position": {
|
1606 |
+
"max": [
|
1607 |
+
124.75714111328125
|
1608 |
+
],
|
1609 |
+
"min": [
|
1610 |
+
32.57777786254883
|
1611 |
+
],
|
1612 |
+
"mean": [
|
1613 |
+
22.127464294433594
|
1614 |
+
],
|
1615 |
+
"std": [
|
1616 |
+
53.21950149536133
|
1617 |
+
],
|
1618 |
+
"q01": [
|
1619 |
+
34.53333282470703
|
1620 |
+
],
|
1621 |
+
"q99": [
|
1622 |
+
122.0999984741211
|
1623 |
+
]
|
1624 |
+
},
|
1625 |
+
"right_effector_position": {
|
1626 |
+
"max": [
|
1627 |
+
124.16011810302734
|
1628 |
+
],
|
1629 |
+
"min": [
|
1630 |
+
33.599998474121094
|
1631 |
+
],
|
1632 |
+
"mean": [
|
1633 |
+
22.127464294433594
|
1634 |
+
],
|
1635 |
+
"std": [
|
1636 |
+
53.21950149536133
|
1637 |
+
],
|
1638 |
+
"q01": [
|
1639 |
+
34.66666793823242
|
1640 |
+
],
|
1641 |
+
"q99": [
|
1642 |
+
122.1443862915039
|
1643 |
+
]
|
1644 |
+
},
|
1645 |
+
"head_position": {
|
1646 |
+
"max": [
|
1647 |
+
0.4363349676132202,
|
1648 |
+
0.5238837003707886
|
1649 |
+
],
|
1650 |
+
"min": [
|
1651 |
+
-0.2792723774909973,
|
1652 |
+
-0.14546717703342438
|
1653 |
+
],
|
1654 |
+
"mean": [
|
1655 |
+
-0.005973346531391144,
|
1656 |
+
0.17287081480026245
|
1657 |
+
],
|
1658 |
+
"std": [
|
1659 |
+
0.03377634286880493,
|
1660 |
+
0.14699949324131012
|
1661 |
+
],
|
1662 |
+
"q01": [
|
1663 |
+
-0.1745089590549469,
|
1664 |
+
0.1396242082118988
|
1665 |
+
],
|
1666 |
+
"q99": [
|
1667 |
+
0.087269127368927,
|
1668 |
+
0.5236093997955322
|
1669 |
+
]
|
1670 |
+
},
|
1671 |
+
"waist_position": {
|
1672 |
+
"max": [
|
1673 |
+
0.8028613924980164,
|
1674 |
+
0.6108654737472534
|
1675 |
+
],
|
1676 |
+
"min": [
|
1677 |
+
-0.0001549959706608206,
|
1678 |
+
-1.6639254681649618e-05
|
1679 |
+
],
|
1680 |
+
"mean": [
|
1681 |
+
0.17287081480026245,
|
1682 |
+
0.08938886225223541
|
1683 |
+
],
|
1684 |
+
"std": [
|
1685 |
+
0.20994052290916443,
|
1686 |
+
0.15571819245815277
|
1687 |
+
],
|
1688 |
+
"q01": [
|
1689 |
+
7.989482924131153e-07,
|
1690 |
+
0.0
|
1691 |
+
],
|
1692 |
+
"q99": [
|
1693 |
+
0.6806802153587341,
|
1694 |
+
0.45334962010383606
|
1695 |
+
]
|
1696 |
+
}
|
1697 |
+
},
|
1698 |
+
"action": {
|
1699 |
+
"left_arm_joint_position": {
|
1700 |
+
"max": [
|
1701 |
+
2.8758695125579834,
|
1702 |
+
1.9940129518508911,
|
1703 |
+
3.1370127201080322,
|
1704 |
+
1.4812432527542114,
|
1705 |
+
3.139925003051758,
|
1706 |
+
1.7610539197921753,
|
1707 |
+
3.1404590606689453
|
1708 |
+
],
|
1709 |
+
"min": [
|
1710 |
+
-2.966796636581421,
|
1711 |
+
-1.9090405702590942,
|
1712 |
+
-2.994210958480835,
|
1713 |
+
-1.4968260526657104,
|
1714 |
+
-3.143338441848755,
|
1715 |
+
-1.7474952936172485,
|
1716 |
+
-3.140000104904175
|
1717 |
+
],
|
1718 |
+
"mean": [
|
1719 |
+
-0.5825905799865723,
|
1720 |
+
0.3457416296005249,
|
1721 |
+
0.4395892322063446,
|
1722 |
+
-0.3457416296005249,
|
1723 |
+
0.35607415437698364,
|
1724 |
+
0.3457416296005249,
|
1725 |
+
0.053289320319890976
|
1726 |
+
],
|
1727 |
+
"std": [
|
1728 |
+
0.7518633008003235,
|
1729 |
+
0.5130977630615234,
|
1730 |
+
0.6901939511299133,
|
1731 |
+
0.5059813261032104,
|
1732 |
+
0.4821229875087738,
|
1733 |
+
0.5896104574203491,
|
1734 |
+
0.7191146016120911
|
1735 |
+
],
|
1736 |
+
"q01": [
|
1737 |
+
-2.364172456264496,
|
1738 |
+
-1.2625716614723206,
|
1739 |
+
-1.2713254690170288,
|
1740 |
+
-1.47836434841156,
|
1741 |
+
-0.5956208109855652,
|
1742 |
+
-0.004502099938690662,
|
1743 |
+
-2.323017120361328
|
1744 |
+
],
|
1745 |
+
"q99": [
|
1746 |
+
1.5946508646011353,
|
1747 |
+
1.5619078862667077,
|
1748 |
+
2.279411551952361,
|
1749 |
+
0.0322999507188797,
|
1750 |
+
1.8872510194778442,
|
1751 |
+
1.7200289964675903,
|
1752 |
+
1.6950677609443652
|
1753 |
+
]
|
1754 |
+
},
|
1755 |
+
"right_arm_joint_position": {
|
1756 |
+
"max": [
|
1757 |
+
3.140000104904175,
|
1758 |
+
1.8658112287521362,
|
1759 |
+
3.1351795196533203,
|
1760 |
+
1.5650031566619873,
|
1761 |
+
3.1516618728637695,
|
1762 |
+
1.7467623949050903,
|
1763 |
+
3.140075206756592
|
1764 |
+
],
|
1765 |
+
"min": [
|
1766 |
+
-2.8576574325561523,
|
1767 |
+
-2.0087313652038574,
|
1768 |
+
-3.140000104904175,
|
1769 |
+
-1.4823949337005615,
|
1770 |
+
-3.1418726444244385,
|
1771 |
+
-1.7603733539581299,
|
1772 |
+
-3.140000104904175
|
1773 |
+
],
|
1774 |
+
"mean": [
|
1775 |
+
0.6057695746421814,
|
1776 |
+
-0.34574297070503235,
|
1777 |
+
-0.4090537130832672,
|
1778 |
+
0.3457416296005249,
|
1779 |
+
-0.3463795781135559,
|
1780 |
+
-0.3457416296005249,
|
1781 |
+
0.014872349798679352
|
1782 |
+
],
|
1783 |
+
"std": [
|
1784 |
+
0.770484983921051,
|
1785 |
+
0.4891981780529022,
|
1786 |
+
0.7010146975517273,
|
1787 |
+
0.5284842252731323,
|
1788 |
+
0.4678402543067932,
|
1789 |
+
0.5902491211891174,
|
1790 |
+
0.6703789234161377
|
1791 |
+
],
|
1792 |
+
"q01": [
|
1793 |
+
-1.4295430171489716,
|
1794 |
+
-1.549558162689209,
|
1795 |
+
-2.12818288564682,
|
1796 |
+
-0.00530660115648061,
|
1797 |
+
-1.7935223531723024,
|
1798 |
+
-1.7253836393356323,
|
1799 |
+
-1.5423394405841828
|
1800 |
+
],
|
1801 |
+
"q99": [
|
1802 |
+
2.3075180053710938,
|
1803 |
+
1.1316230213642076,
|
1804 |
+
1.4279094922542566,
|
1805 |
+
1.4798182249069214,
|
1806 |
+
0.6721548426151269,
|
1807 |
+
0.08709267988800451,
|
1808 |
+
2.257192373275757
|
1809 |
+
]
|
1810 |
+
},
|
1811 |
+
"left_effector_position": {
|
1812 |
+
"max": [
|
1813 |
+
1.0
|
1814 |
+
],
|
1815 |
+
"min": [
|
1816 |
+
0.0
|
1817 |
+
],
|
1818 |
+
"mean": [
|
1819 |
+
0.17287081480026245
|
1820 |
+
],
|
1821 |
+
"std": [
|
1822 |
+
0.4157773554325104
|
1823 |
+
],
|
1824 |
+
"q01": [
|
1825 |
+
0.0
|
1826 |
+
],
|
1827 |
+
"q99": [
|
1828 |
+
1.0
|
1829 |
+
]
|
1830 |
+
},
|
1831 |
+
"right_effector_position": {
|
1832 |
+
"max": [
|
1833 |
+
1.0
|
1834 |
+
],
|
1835 |
+
"min": [
|
1836 |
+
0.0
|
1837 |
+
],
|
1838 |
+
"mean": [
|
1839 |
+
0.17287081480026245
|
1840 |
+
],
|
1841 |
+
"std": [
|
1842 |
+
0.4157773554325104
|
1843 |
+
],
|
1844 |
+
"q01": [
|
1845 |
+
0.0
|
1846 |
+
],
|
1847 |
+
"q99": [
|
1848 |
+
1.0
|
1849 |
+
]
|
1850 |
+
},
|
1851 |
+
"head_position": {
|
1852 |
+
"max": [
|
1853 |
+
0.4363349676132202,
|
1854 |
+
0.5238837003707886
|
1855 |
+
],
|
1856 |
+
"min": [
|
1857 |
+
-0.2792723774909973,
|
1858 |
+
-0.14546717703342438
|
1859 |
+
],
|
1860 |
+
"mean": [
|
1861 |
+
-0.005973346531391144,
|
1862 |
+
0.17287081480026245
|
1863 |
+
],
|
1864 |
+
"std": [
|
1865 |
+
0.03377634286880493,
|
1866 |
+
0.14699949324131012
|
1867 |
+
],
|
1868 |
+
"q01": [
|
1869 |
+
-0.1745089590549469,
|
1870 |
+
0.1396242082118988
|
1871 |
+
],
|
1872 |
+
"q99": [
|
1873 |
+
0.087269127368927,
|
1874 |
+
0.5236093997955322
|
1875 |
+
]
|
1876 |
+
},
|
1877 |
+
"waist_position": {
|
1878 |
+
"max": [
|
1879 |
+
0.8028613924980164,
|
1880 |
+
0.6108654737472534
|
1881 |
+
],
|
1882 |
+
"min": [
|
1883 |
+
-0.0001549959706608206,
|
1884 |
+
-1.6639254681649618e-05
|
1885 |
+
],
|
1886 |
+
"mean": [
|
1887 |
+
0.17287081480026245,
|
1888 |
+
0.08938886225223541
|
1889 |
+
],
|
1890 |
+
"std": [
|
1891 |
+
0.20994052290916443,
|
1892 |
+
0.15571819245815277
|
1893 |
+
],
|
1894 |
+
"q01": [
|
1895 |
+
7.989482924131153e-07,
|
1896 |
+
0.0
|
1897 |
+
],
|
1898 |
+
"q99": [
|
1899 |
+
0.6806802153587341,
|
1900 |
+
0.45334962010383606
|
1901 |
+
]
|
1902 |
+
},
|
1903 |
+
"robot_velocity": {
|
1904 |
+
"max": [
|
1905 |
+
1.600000023841858,
|
1906 |
+
1.0
|
1907 |
+
],
|
1908 |
+
"min": [
|
1909 |
+
-1.600000023841858,
|
1910 |
+
-1.0
|
1911 |
+
],
|
1912 |
+
"mean": [
|
1913 |
+
0.004304705653339624,
|
1914 |
+
-0.00043726855074055493
|
1915 |
+
],
|
1916 |
+
"std": [
|
1917 |
+
0.1554863303899765,
|
1918 |
+
0.07045048475265503
|
1919 |
+
],
|
1920 |
+
"q01": [
|
1921 |
+
0.0,
|
1922 |
+
0.0
|
1923 |
+
],
|
1924 |
+
"q99": [
|
1925 |
+
0.0,
|
1926 |
+
0.0
|
1927 |
+
]
|
1928 |
+
}
|
1929 |
+
},
|
1930 |
+
"total_trajectory_length": 97050602,
|
1931 |
+
"num_trajectories": 189774
|
1932 |
+
},
|
1933 |
+
"modalities": {
|
1934 |
+
"video": {
|
1935 |
+
"top_head_pad_res256_freq10": {
|
1936 |
+
"resolution": [
|
1937 |
+
256,
|
1938 |
+
256
|
1939 |
+
],
|
1940 |
+
"channels": 3,
|
1941 |
+
"fps": 30.0
|
1942 |
+
},
|
1943 |
+
"hand_left_pad_res256_freq10": {
|
1944 |
+
"resolution": [
|
1945 |
+
256,
|
1946 |
+
256
|
1947 |
+
],
|
1948 |
+
"channels": 3,
|
1949 |
+
"fps": 30.0
|
1950 |
+
},
|
1951 |
+
"hand_right_pad_res256_freq10": {
|
1952 |
+
"resolution": [
|
1953 |
+
256,
|
1954 |
+
256
|
1955 |
+
],
|
1956 |
+
"channels": 3,
|
1957 |
+
"fps": 30.0
|
1958 |
+
}
|
1959 |
+
},
|
1960 |
+
"state": {
|
1961 |
+
"left_arm_joint_position": {
|
1962 |
+
"absolute": true,
|
1963 |
+
"rotation_type": null,
|
1964 |
+
"shape": [
|
1965 |
+
7
|
1966 |
+
],
|
1967 |
+
"continuous": true
|
1968 |
+
},
|
1969 |
+
"right_arm_joint_position": {
|
1970 |
+
"absolute": true,
|
1971 |
+
"rotation_type": null,
|
1972 |
+
"shape": [
|
1973 |
+
7
|
1974 |
+
],
|
1975 |
+
"continuous": true
|
1976 |
+
},
|
1977 |
+
"left_effector_position": {
|
1978 |
+
"absolute": true,
|
1979 |
+
"rotation_type": null,
|
1980 |
+
"shape": [
|
1981 |
+
1
|
1982 |
+
],
|
1983 |
+
"continuous": true
|
1984 |
+
},
|
1985 |
+
"right_effector_position": {
|
1986 |
+
"absolute": true,
|
1987 |
+
"rotation_type": null,
|
1988 |
+
"shape": [
|
1989 |
+
1
|
1990 |
+
],
|
1991 |
+
"continuous": true
|
1992 |
+
},
|
1993 |
+
"head_position": {
|
1994 |
+
"absolute": true,
|
1995 |
+
"rotation_type": null,
|
1996 |
+
"shape": [
|
1997 |
+
2
|
1998 |
+
],
|
1999 |
+
"continuous": true
|
2000 |
+
},
|
2001 |
+
"waist_position": {
|
2002 |
+
"absolute": true,
|
2003 |
+
"rotation_type": null,
|
2004 |
+
"shape": [
|
2005 |
+
2
|
2006 |
+
],
|
2007 |
+
"continuous": true
|
2008 |
+
}
|
2009 |
+
},
|
2010 |
+
"action": {
|
2011 |
+
"left_arm_joint_position": {
|
2012 |
+
"absolute": true,
|
2013 |
+
"rotation_type": null,
|
2014 |
+
"shape": [
|
2015 |
+
7
|
2016 |
+
],
|
2017 |
+
"continuous": true
|
2018 |
+
},
|
2019 |
+
"right_arm_joint_position": {
|
2020 |
+
"absolute": true,
|
2021 |
+
"rotation_type": null,
|
2022 |
+
"shape": [
|
2023 |
+
7
|
2024 |
+
],
|
2025 |
+
"continuous": true
|
2026 |
+
},
|
2027 |
+
"left_effector_position": {
|
2028 |
+
"absolute": true,
|
2029 |
+
"rotation_type": null,
|
2030 |
+
"shape": [
|
2031 |
+
1
|
2032 |
+
],
|
2033 |
+
"continuous": true
|
2034 |
+
},
|
2035 |
+
"right_effector_position": {
|
2036 |
+
"absolute": true,
|
2037 |
+
"rotation_type": null,
|
2038 |
+
"shape": [
|
2039 |
+
1
|
2040 |
+
],
|
2041 |
+
"continuous": true
|
2042 |
+
},
|
2043 |
+
"head_position": {
|
2044 |
+
"absolute": true,
|
2045 |
+
"rotation_type": null,
|
2046 |
+
"shape": [
|
2047 |
+
2
|
2048 |
+
],
|
2049 |
+
"continuous": true
|
2050 |
+
},
|
2051 |
+
"waist_position": {
|
2052 |
+
"absolute": true,
|
2053 |
+
"rotation_type": null,
|
2054 |
+
"shape": [
|
2055 |
+
2
|
2056 |
+
],
|
2057 |
+
"continuous": true
|
2058 |
+
},
|
2059 |
+
"robot_velocity": {
|
2060 |
+
"absolute": true,
|
2061 |
+
"rotation_type": null,
|
2062 |
+
"shape": [
|
2063 |
+
2
|
2064 |
+
],
|
2065 |
+
"continuous": true
|
2066 |
+
}
|
2067 |
+
},
|
2068 |
+
"annotation": {
|
2069 |
+
"language": [
|
2070 |
+
"action_text"
|
2071 |
+
]
|
2072 |
+
}
|
2073 |
+
},
|
2074 |
+
"embodiment_tag": "agibot"
|
2075 |
+
}
|
2076 |
+
}
|
latest
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
global_step152000
|
model-00001-of-00002.safetensors
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:a00a4cee4b1591c06440ec1167b3b8d762957d50fa00befbe98a71663e0e4586
|
3 |
+
size 4973058384
|
model-00002-of-00002.safetensors
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:83e33f0ac2e0745241bfdaa6f5ad8dec684d6de5146c7efe46a789143dab0d17
|
3 |
+
size 2414539196
|
model.safetensors.index.json
ADDED
The diff for this file is too large to render.
See raw diff
|
|
trainer_state.json
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:57a1a9a747c0d38ca56856bfd2e8f9664c75550b9e1302e9340a34fdcbcc6400
|
3 |
+
size 73200752
|
zero_to_fp32.py
ADDED
@@ -0,0 +1,604 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
#!/usr/bin/env python
|
2 |
+
|
3 |
+
# Copyright (c) Microsoft Corporation.
|
4 |
+
# SPDX-License-Identifier: Apache-2.0
|
5 |
+
|
6 |
+
# DeepSpeed Team
|
7 |
+
|
8 |
+
# This script extracts fp32 consolidated weights from a zero 1, 2 and 3 DeepSpeed checkpoints. It gets
|
9 |
+
# copied into the top level checkpoint dir, so the user can easily do the conversion at any point in
|
10 |
+
# the future. Once extracted, the weights don't require DeepSpeed and can be used in any
|
11 |
+
# application.
|
12 |
+
#
|
13 |
+
# example: python zero_to_fp32.py . pytorch_model.bin
|
14 |
+
|
15 |
+
import argparse
|
16 |
+
import torch
|
17 |
+
import glob
|
18 |
+
import math
|
19 |
+
import os
|
20 |
+
import re
|
21 |
+
from collections import OrderedDict
|
22 |
+
from dataclasses import dataclass
|
23 |
+
|
24 |
+
# while this script doesn't use deepspeed to recover data, since the checkpoints are pickled with
|
25 |
+
# DeepSpeed data structures it has to be available in the current python environment.
|
26 |
+
from deepspeed.utils import logger
|
27 |
+
from deepspeed.checkpoint.constants import (DS_VERSION, OPTIMIZER_STATE_DICT, SINGLE_PARTITION_OF_FP32_GROUPS,
|
28 |
+
FP32_FLAT_GROUPS, ZERO_STAGE, PARTITION_COUNT, PARAM_SHAPES, BUFFER_NAMES,
|
29 |
+
FROZEN_PARAM_SHAPES, FROZEN_PARAM_FRAGMENTS)
|
30 |
+
|
31 |
+
|
32 |
+
@dataclass
|
33 |
+
class zero_model_state:
|
34 |
+
buffers: dict()
|
35 |
+
param_shapes: dict()
|
36 |
+
shared_params: list
|
37 |
+
ds_version: int
|
38 |
+
frozen_param_shapes: dict()
|
39 |
+
frozen_param_fragments: dict()
|
40 |
+
|
41 |
+
|
42 |
+
debug = 0
|
43 |
+
|
44 |
+
# load to cpu
|
45 |
+
device = torch.device('cpu')
|
46 |
+
|
47 |
+
|
48 |
+
def atoi(text):
|
49 |
+
return int(text) if text.isdigit() else text
|
50 |
+
|
51 |
+
|
52 |
+
def natural_keys(text):
|
53 |
+
'''
|
54 |
+
alist.sort(key=natural_keys) sorts in human order
|
55 |
+
http://nedbatchelder.com/blog/200712/human_sorting.html
|
56 |
+
(See Toothy's implementation in the comments)
|
57 |
+
'''
|
58 |
+
return [atoi(c) for c in re.split(r'(\d+)', text)]
|
59 |
+
|
60 |
+
|
61 |
+
def get_model_state_file(checkpoint_dir, zero_stage):
|
62 |
+
if not os.path.isdir(checkpoint_dir):
|
63 |
+
raise FileNotFoundError(f"Directory '{checkpoint_dir}' doesn't exist")
|
64 |
+
|
65 |
+
# there should be only one file
|
66 |
+
if zero_stage <= 2:
|
67 |
+
file = os.path.join(checkpoint_dir, "mp_rank_00_model_states.pt")
|
68 |
+
elif zero_stage == 3:
|
69 |
+
file = os.path.join(checkpoint_dir, "zero_pp_rank_0_mp_rank_00_model_states.pt")
|
70 |
+
|
71 |
+
if not os.path.exists(file):
|
72 |
+
raise FileNotFoundError(f"can't find model states file at '{file}'")
|
73 |
+
|
74 |
+
return file
|
75 |
+
|
76 |
+
|
77 |
+
def get_checkpoint_files(checkpoint_dir, glob_pattern):
|
78 |
+
# XXX: need to test that this simple glob rule works for multi-node setup too
|
79 |
+
ckpt_files = sorted(glob.glob(os.path.join(checkpoint_dir, glob_pattern)), key=natural_keys)
|
80 |
+
|
81 |
+
if len(ckpt_files) == 0:
|
82 |
+
raise FileNotFoundError(f"can't find {glob_pattern} files in directory '{checkpoint_dir}'")
|
83 |
+
|
84 |
+
return ckpt_files
|
85 |
+
|
86 |
+
|
87 |
+
def get_optim_files(checkpoint_dir):
|
88 |
+
return get_checkpoint_files(checkpoint_dir, "*_optim_states.pt")
|
89 |
+
|
90 |
+
|
91 |
+
def get_model_state_files(checkpoint_dir):
|
92 |
+
return get_checkpoint_files(checkpoint_dir, "*_model_states.pt")
|
93 |
+
|
94 |
+
|
95 |
+
def parse_model_states(files):
|
96 |
+
zero_model_states = []
|
97 |
+
for file in files:
|
98 |
+
state_dict = torch.load(file, map_location=device)
|
99 |
+
|
100 |
+
if BUFFER_NAMES not in state_dict:
|
101 |
+
raise ValueError(f"{file} is not a model state checkpoint")
|
102 |
+
buffer_names = state_dict[BUFFER_NAMES]
|
103 |
+
if debug:
|
104 |
+
print("Found buffers:", buffer_names)
|
105 |
+
|
106 |
+
# recover just the buffers while restoring them to fp32 if they were saved in fp16
|
107 |
+
buffers = {k: v.float() for k, v in state_dict["module"].items() if k in buffer_names}
|
108 |
+
param_shapes = state_dict[PARAM_SHAPES]
|
109 |
+
|
110 |
+
# collect parameters that are included in param_shapes
|
111 |
+
param_names = []
|
112 |
+
for s in param_shapes:
|
113 |
+
for name in s.keys():
|
114 |
+
param_names.append(name)
|
115 |
+
|
116 |
+
# update with frozen parameters
|
117 |
+
frozen_param_shapes = state_dict.get(FROZEN_PARAM_SHAPES, None)
|
118 |
+
if frozen_param_shapes is not None:
|
119 |
+
if debug:
|
120 |
+
print(f"Found frozen_param_shapes: {frozen_param_shapes}")
|
121 |
+
param_names += list(frozen_param_shapes.keys())
|
122 |
+
|
123 |
+
# handle shared params
|
124 |
+
shared_params = [[k, v] for k, v in state_dict["shared_params"].items()]
|
125 |
+
|
126 |
+
ds_version = state_dict.get(DS_VERSION, None)
|
127 |
+
|
128 |
+
frozen_param_fragments = state_dict.get(FROZEN_PARAM_FRAGMENTS, None)
|
129 |
+
|
130 |
+
z_model_state = zero_model_state(buffers=buffers,
|
131 |
+
param_shapes=param_shapes,
|
132 |
+
shared_params=shared_params,
|
133 |
+
ds_version=ds_version,
|
134 |
+
frozen_param_shapes=frozen_param_shapes,
|
135 |
+
frozen_param_fragments=frozen_param_fragments)
|
136 |
+
zero_model_states.append(z_model_state)
|
137 |
+
|
138 |
+
return zero_model_states
|
139 |
+
|
140 |
+
|
141 |
+
def parse_optim_states(files, ds_checkpoint_dir):
|
142 |
+
|
143 |
+
total_files = len(files)
|
144 |
+
state_dicts = []
|
145 |
+
for f in files:
|
146 |
+
state_dict = torch.load(f, map_location=device)
|
147 |
+
# immediately discard the potentially huge 2 optimizer states as we only care for fp32 master weights
|
148 |
+
# and also handle the case where it was already removed by another helper script
|
149 |
+
state_dict["optimizer_state_dict"].pop("optimizer_state_dict", None)
|
150 |
+
state_dicts.append(state_dict)
|
151 |
+
|
152 |
+
if not ZERO_STAGE in state_dicts[0][OPTIMIZER_STATE_DICT]:
|
153 |
+
raise ValueError(f"{files[0]} is not a zero checkpoint")
|
154 |
+
zero_stage = state_dicts[0][OPTIMIZER_STATE_DICT][ZERO_STAGE]
|
155 |
+
world_size = state_dicts[0][OPTIMIZER_STATE_DICT][PARTITION_COUNT]
|
156 |
+
|
157 |
+
# For ZeRO-2 each param group can have different partition_count as data parallelism for expert
|
158 |
+
# parameters can be different from data parallelism for non-expert parameters. So we can just
|
159 |
+
# use the max of the partition_count to get the dp world_size.
|
160 |
+
|
161 |
+
if type(world_size) is list:
|
162 |
+
world_size = max(world_size)
|
163 |
+
|
164 |
+
if world_size != total_files:
|
165 |
+
raise ValueError(
|
166 |
+
f"Expected {world_size} of '*_optim_states.pt' under '{ds_checkpoint_dir}' but found {total_files} files. "
|
167 |
+
"Possibly due to an overwrite of an old checkpoint, or a checkpoint didn't get saved by one or more processes."
|
168 |
+
)
|
169 |
+
|
170 |
+
# the groups are named differently in each stage
|
171 |
+
if zero_stage <= 2:
|
172 |
+
fp32_groups_key = SINGLE_PARTITION_OF_FP32_GROUPS
|
173 |
+
elif zero_stage == 3:
|
174 |
+
fp32_groups_key = FP32_FLAT_GROUPS
|
175 |
+
else:
|
176 |
+
raise ValueError(f"unknown zero stage {zero_stage}")
|
177 |
+
|
178 |
+
if zero_stage <= 2:
|
179 |
+
fp32_flat_groups = [state_dicts[i][OPTIMIZER_STATE_DICT][fp32_groups_key] for i in range(len(state_dicts))]
|
180 |
+
elif zero_stage == 3:
|
181 |
+
# if there is more than one param group, there will be multiple flattened tensors - one
|
182 |
+
# flattened tensor per group - for simplicity merge them into a single tensor
|
183 |
+
#
|
184 |
+
# XXX: could make the script more memory efficient for when there are multiple groups - it
|
185 |
+
# will require matching the sub-lists of param_shapes for each param group flattened tensor
|
186 |
+
|
187 |
+
fp32_flat_groups = [
|
188 |
+
torch.cat(state_dicts[i][OPTIMIZER_STATE_DICT][fp32_groups_key], 0) for i in range(len(state_dicts))
|
189 |
+
]
|
190 |
+
|
191 |
+
return zero_stage, world_size, fp32_flat_groups
|
192 |
+
|
193 |
+
|
194 |
+
def _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters):
|
195 |
+
"""
|
196 |
+
Returns fp32 state_dict reconstructed from ds checkpoint
|
197 |
+
|
198 |
+
Args:
|
199 |
+
- ``ds_checkpoint_dir``: path to the deepspeed checkpoint folder (where the optimizer files are)
|
200 |
+
|
201 |
+
"""
|
202 |
+
print(f"Processing zero checkpoint '{ds_checkpoint_dir}'")
|
203 |
+
|
204 |
+
optim_files = get_optim_files(ds_checkpoint_dir)
|
205 |
+
zero_stage, world_size, fp32_flat_groups = parse_optim_states(optim_files, ds_checkpoint_dir)
|
206 |
+
print(f"Detected checkpoint of type zero stage {zero_stage}, world_size: {world_size}")
|
207 |
+
|
208 |
+
model_files = get_model_state_files(ds_checkpoint_dir)
|
209 |
+
|
210 |
+
zero_model_states = parse_model_states(model_files)
|
211 |
+
print(f'Parsing checkpoint created by deepspeed=={zero_model_states[0].ds_version}')
|
212 |
+
|
213 |
+
if zero_stage <= 2:
|
214 |
+
return _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
|
215 |
+
exclude_frozen_parameters)
|
216 |
+
elif zero_stage == 3:
|
217 |
+
return _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
|
218 |
+
exclude_frozen_parameters)
|
219 |
+
|
220 |
+
|
221 |
+
def _zero2_merge_frozen_params(state_dict, zero_model_states):
|
222 |
+
if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
|
223 |
+
return
|
224 |
+
|
225 |
+
frozen_param_shapes = zero_model_states[0].frozen_param_shapes
|
226 |
+
frozen_param_fragments = zero_model_states[0].frozen_param_fragments
|
227 |
+
|
228 |
+
if debug:
|
229 |
+
num_elem = sum(s.numel() for s in frozen_param_shapes.values())
|
230 |
+
print(f'rank 0: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
|
231 |
+
|
232 |
+
wanted_params = len(frozen_param_shapes)
|
233 |
+
wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
|
234 |
+
avail_numel = sum([p.numel() for p in frozen_param_fragments.values()])
|
235 |
+
print(f'Frozen params: Have {avail_numel} numels to process.')
|
236 |
+
print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
|
237 |
+
|
238 |
+
total_params = 0
|
239 |
+
total_numel = 0
|
240 |
+
for name, shape in frozen_param_shapes.items():
|
241 |
+
total_params += 1
|
242 |
+
unpartitioned_numel = shape.numel()
|
243 |
+
total_numel += unpartitioned_numel
|
244 |
+
|
245 |
+
state_dict[name] = frozen_param_fragments[name]
|
246 |
+
|
247 |
+
if debug:
|
248 |
+
print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
|
249 |
+
|
250 |
+
print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
|
251 |
+
|
252 |
+
|
253 |
+
def _has_callable(obj, fn):
|
254 |
+
attr = getattr(obj, fn, None)
|
255 |
+
return callable(attr)
|
256 |
+
|
257 |
+
|
258 |
+
def _zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
|
259 |
+
param_shapes = zero_model_states[0].param_shapes
|
260 |
+
|
261 |
+
# Reconstruction protocol:
|
262 |
+
#
|
263 |
+
# XXX: document this
|
264 |
+
|
265 |
+
if debug:
|
266 |
+
for i in range(world_size):
|
267 |
+
for j in range(len(fp32_flat_groups[0])):
|
268 |
+
print(f"{FP32_FLAT_GROUPS}[{i}][{j}].shape={fp32_flat_groups[i][j].shape}")
|
269 |
+
|
270 |
+
# XXX: memory usage doubles here (zero2)
|
271 |
+
num_param_groups = len(fp32_flat_groups[0])
|
272 |
+
merged_single_partition_of_fp32_groups = []
|
273 |
+
for i in range(num_param_groups):
|
274 |
+
merged_partitions = [sd[i] for sd in fp32_flat_groups]
|
275 |
+
full_single_fp32_vector = torch.cat(merged_partitions, 0)
|
276 |
+
merged_single_partition_of_fp32_groups.append(full_single_fp32_vector)
|
277 |
+
avail_numel = sum(
|
278 |
+
[full_single_fp32_vector.numel() for full_single_fp32_vector in merged_single_partition_of_fp32_groups])
|
279 |
+
|
280 |
+
if debug:
|
281 |
+
wanted_params = sum([len(shapes) for shapes in param_shapes])
|
282 |
+
wanted_numel = sum([sum(shape.numel() for shape in shapes.values()) for shapes in param_shapes])
|
283 |
+
# not asserting if there is a mismatch due to possible padding
|
284 |
+
print(f"Have {avail_numel} numels to process.")
|
285 |
+
print(f"Need {wanted_numel} numels in {wanted_params} params.")
|
286 |
+
|
287 |
+
# params
|
288 |
+
# XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
|
289 |
+
# out-of-core computing solution
|
290 |
+
total_numel = 0
|
291 |
+
total_params = 0
|
292 |
+
for shapes, full_single_fp32_vector in zip(param_shapes, merged_single_partition_of_fp32_groups):
|
293 |
+
offset = 0
|
294 |
+
avail_numel = full_single_fp32_vector.numel()
|
295 |
+
for name, shape in shapes.items():
|
296 |
+
|
297 |
+
unpartitioned_numel = shape.numel() if _has_callable(shape, 'numel') else math.prod(shape)
|
298 |
+
total_numel += unpartitioned_numel
|
299 |
+
total_params += 1
|
300 |
+
|
301 |
+
if debug:
|
302 |
+
print(f"{name} full shape: {shape} unpartitioned numel {unpartitioned_numel} ")
|
303 |
+
state_dict[name] = full_single_fp32_vector.narrow(0, offset, unpartitioned_numel).view(shape)
|
304 |
+
offset += unpartitioned_numel
|
305 |
+
|
306 |
+
# Z2 started to align to 2*world_size to improve nccl performance. Therefore both offset and
|
307 |
+
# avail_numel can differ by anywhere between 0..2*world_size. Due to two unrelated complex
|
308 |
+
# paddings performed in the code it's almost impossible to predict the exact numbers w/o the
|
309 |
+
# live optimizer object, so we are checking that the numbers are within the right range
|
310 |
+
align_to = 2 * world_size
|
311 |
+
|
312 |
+
def zero2_align(x):
|
313 |
+
return align_to * math.ceil(x / align_to)
|
314 |
+
|
315 |
+
if debug:
|
316 |
+
print(f"original offset={offset}, avail_numel={avail_numel}")
|
317 |
+
|
318 |
+
offset = zero2_align(offset)
|
319 |
+
avail_numel = zero2_align(avail_numel)
|
320 |
+
|
321 |
+
if debug:
|
322 |
+
print(f"aligned offset={offset}, avail_numel={avail_numel}")
|
323 |
+
|
324 |
+
# Sanity check
|
325 |
+
if offset != avail_numel:
|
326 |
+
raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
|
327 |
+
|
328 |
+
print(f"Reconstructed fp32 state dict with {total_params} params {total_numel} elements")
|
329 |
+
|
330 |
+
|
331 |
+
def _get_fp32_state_dict_from_zero2_checkpoint(world_size, fp32_flat_groups, zero_model_states,
|
332 |
+
exclude_frozen_parameters):
|
333 |
+
state_dict = OrderedDict()
|
334 |
+
|
335 |
+
# buffers
|
336 |
+
buffers = zero_model_states[0].buffers
|
337 |
+
state_dict.update(buffers)
|
338 |
+
if debug:
|
339 |
+
print(f"added {len(buffers)} buffers")
|
340 |
+
|
341 |
+
if not exclude_frozen_parameters:
|
342 |
+
_zero2_merge_frozen_params(state_dict, zero_model_states)
|
343 |
+
|
344 |
+
_zero2_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
|
345 |
+
|
346 |
+
# recover shared parameters
|
347 |
+
for pair in zero_model_states[0].shared_params:
|
348 |
+
if pair[1] in state_dict:
|
349 |
+
state_dict[pair[0]] = state_dict[pair[1]]
|
350 |
+
|
351 |
+
return state_dict
|
352 |
+
|
353 |
+
|
354 |
+
def zero3_partitioned_param_info(unpartitioned_numel, world_size):
|
355 |
+
remainder = unpartitioned_numel % world_size
|
356 |
+
padding_numel = (world_size - remainder) if remainder else 0
|
357 |
+
partitioned_numel = math.ceil(unpartitioned_numel / world_size)
|
358 |
+
return partitioned_numel, padding_numel
|
359 |
+
|
360 |
+
|
361 |
+
def _zero3_merge_frozen_params(state_dict, world_size, zero_model_states):
|
362 |
+
if zero_model_states[0].frozen_param_shapes is None or len(zero_model_states[0].frozen_param_shapes) == 0:
|
363 |
+
return
|
364 |
+
|
365 |
+
if debug:
|
366 |
+
for i in range(world_size):
|
367 |
+
num_elem = sum(s.numel() for s in zero_model_states[i].frozen_param_fragments.values())
|
368 |
+
print(f'rank {i}: {FROZEN_PARAM_SHAPES}.numel = {num_elem}')
|
369 |
+
|
370 |
+
frozen_param_shapes = zero_model_states[0].frozen_param_shapes
|
371 |
+
wanted_params = len(frozen_param_shapes)
|
372 |
+
wanted_numel = sum(s.numel() for s in frozen_param_shapes.values())
|
373 |
+
avail_numel = sum([p.numel() for p in zero_model_states[0].frozen_param_fragments.values()]) * world_size
|
374 |
+
print(f'Frozen params: Have {avail_numel} numels to process.')
|
375 |
+
print(f'Frozen params: Need {wanted_numel} numels in {wanted_params} params')
|
376 |
+
|
377 |
+
total_params = 0
|
378 |
+
total_numel = 0
|
379 |
+
for name, shape in zero_model_states[0].frozen_param_shapes.items():
|
380 |
+
total_params += 1
|
381 |
+
unpartitioned_numel = shape.numel()
|
382 |
+
total_numel += unpartitioned_numel
|
383 |
+
|
384 |
+
param_frags = tuple(model_state.frozen_param_fragments[name] for model_state in zero_model_states)
|
385 |
+
state_dict[name] = torch.cat(param_frags, 0).narrow(0, 0, unpartitioned_numel).view(shape)
|
386 |
+
|
387 |
+
partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
|
388 |
+
|
389 |
+
if debug:
|
390 |
+
print(
|
391 |
+
f"Frozen params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
|
392 |
+
)
|
393 |
+
|
394 |
+
print(f"Reconstructed Frozen fp32 state dict with {total_params} params {total_numel} elements")
|
395 |
+
|
396 |
+
|
397 |
+
def _zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states):
|
398 |
+
param_shapes = zero_model_states[0].param_shapes
|
399 |
+
avail_numel = fp32_flat_groups[0].numel() * world_size
|
400 |
+
# Reconstruction protocol: For zero3 we need to zip the partitions together at boundary of each
|
401 |
+
# param, re-consolidating each param, while dealing with padding if any
|
402 |
+
|
403 |
+
# merge list of dicts, preserving order
|
404 |
+
param_shapes = {k: v for d in param_shapes for k, v in d.items()}
|
405 |
+
|
406 |
+
if debug:
|
407 |
+
for i in range(world_size):
|
408 |
+
print(f"{FP32_FLAT_GROUPS}[{i}].shape={fp32_flat_groups[i].shape}")
|
409 |
+
|
410 |
+
wanted_params = len(param_shapes)
|
411 |
+
wanted_numel = sum(shape.numel() for shape in param_shapes.values())
|
412 |
+
# not asserting if there is a mismatch due to possible padding
|
413 |
+
avail_numel = fp32_flat_groups[0].numel() * world_size
|
414 |
+
print(f"Trainable params: Have {avail_numel} numels to process.")
|
415 |
+
print(f"Trainable params: Need {wanted_numel} numels in {wanted_params} params.")
|
416 |
+
|
417 |
+
# params
|
418 |
+
# XXX: for huge models that can't fit into the host's RAM we will have to recode this to support
|
419 |
+
# out-of-core computing solution
|
420 |
+
offset = 0
|
421 |
+
total_numel = 0
|
422 |
+
total_params = 0
|
423 |
+
for name, shape in param_shapes.items():
|
424 |
+
|
425 |
+
unpartitioned_numel = shape.numel()
|
426 |
+
total_numel += unpartitioned_numel
|
427 |
+
total_params += 1
|
428 |
+
|
429 |
+
partitioned_numel, partitioned_padding_numel = zero3_partitioned_param_info(unpartitioned_numel, world_size)
|
430 |
+
|
431 |
+
if debug:
|
432 |
+
print(
|
433 |
+
f"Trainable params: {total_params} {name} full shape: {shape} partition0 numel={partitioned_numel} partitioned_padding_numel={partitioned_padding_numel}"
|
434 |
+
)
|
435 |
+
|
436 |
+
# XXX: memory usage doubles here
|
437 |
+
state_dict[name] = torch.cat(
|
438 |
+
tuple(fp32_flat_groups[i].narrow(0, offset, partitioned_numel) for i in range(world_size)),
|
439 |
+
0).narrow(0, 0, unpartitioned_numel).view(shape)
|
440 |
+
offset += partitioned_numel
|
441 |
+
|
442 |
+
offset *= world_size
|
443 |
+
|
444 |
+
# Sanity check
|
445 |
+
if offset != avail_numel:
|
446 |
+
raise ValueError(f"consumed {offset} numels out of {avail_numel} - something is wrong")
|
447 |
+
|
448 |
+
print(f"Reconstructed Trainable fp32 state dict with {total_params} params {total_numel} elements")
|
449 |
+
|
450 |
+
|
451 |
+
def _get_fp32_state_dict_from_zero3_checkpoint(world_size, fp32_flat_groups, zero_model_states,
|
452 |
+
exclude_frozen_parameters):
|
453 |
+
state_dict = OrderedDict()
|
454 |
+
|
455 |
+
# buffers
|
456 |
+
buffers = zero_model_states[0].buffers
|
457 |
+
state_dict.update(buffers)
|
458 |
+
if debug:
|
459 |
+
print(f"added {len(buffers)} buffers")
|
460 |
+
|
461 |
+
if not exclude_frozen_parameters:
|
462 |
+
_zero3_merge_frozen_params(state_dict, world_size, zero_model_states)
|
463 |
+
|
464 |
+
_zero3_merge_trainable_params(state_dict, world_size, fp32_flat_groups, zero_model_states)
|
465 |
+
|
466 |
+
# recover shared parameters
|
467 |
+
for pair in zero_model_states[0].shared_params:
|
468 |
+
if pair[1] in state_dict:
|
469 |
+
state_dict[pair[0]] = state_dict[pair[1]]
|
470 |
+
|
471 |
+
return state_dict
|
472 |
+
|
473 |
+
|
474 |
+
def get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag=None, exclude_frozen_parameters=False):
|
475 |
+
"""
|
476 |
+
Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated state_dict that can be loaded with
|
477 |
+
``load_state_dict()`` and used for training without DeepSpeed or shared with others, for example
|
478 |
+
via a model hub.
|
479 |
+
|
480 |
+
Args:
|
481 |
+
- ``checkpoint_dir``: path to the desired checkpoint folder
|
482 |
+
- ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in 'latest' file. e.g., ``global_step14``
|
483 |
+
- ``exclude_frozen_parameters``: exclude frozen parameters
|
484 |
+
|
485 |
+
Returns:
|
486 |
+
- pytorch ``state_dict``
|
487 |
+
|
488 |
+
Note: this approach may not work if your application doesn't have sufficient free CPU memory and
|
489 |
+
you may need to use the offline approach using the ``zero_to_fp32.py`` script that is saved with
|
490 |
+
the checkpoint.
|
491 |
+
|
492 |
+
A typical usage might be ::
|
493 |
+
|
494 |
+
from deepspeed.utils.zero_to_fp32 import get_fp32_state_dict_from_zero_checkpoint
|
495 |
+
# do the training and checkpoint saving
|
496 |
+
state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir) # already on cpu
|
497 |
+
model = model.cpu() # move to cpu
|
498 |
+
model.load_state_dict(state_dict)
|
499 |
+
# submit to model hub or save the model to share with others
|
500 |
+
|
501 |
+
In this example the ``model`` will no longer be usable in the deepspeed context of the same
|
502 |
+
application. i.e. you will need to re-initialize the deepspeed engine, since
|
503 |
+
``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
|
504 |
+
|
505 |
+
If you want it all done for you, use ``load_state_dict_from_zero_checkpoint`` instead.
|
506 |
+
|
507 |
+
"""
|
508 |
+
if tag is None:
|
509 |
+
latest_path = os.path.join(checkpoint_dir, 'latest')
|
510 |
+
if os.path.isfile(latest_path):
|
511 |
+
with open(latest_path, 'r') as fd:
|
512 |
+
tag = fd.read().strip()
|
513 |
+
else:
|
514 |
+
raise ValueError(f"Unable to find 'latest' file at {latest_path}")
|
515 |
+
|
516 |
+
ds_checkpoint_dir = os.path.join(checkpoint_dir, tag)
|
517 |
+
|
518 |
+
if not os.path.isdir(ds_checkpoint_dir):
|
519 |
+
raise FileNotFoundError(f"Directory '{ds_checkpoint_dir}' doesn't exist")
|
520 |
+
|
521 |
+
return _get_fp32_state_dict_from_zero_checkpoint(ds_checkpoint_dir, exclude_frozen_parameters)
|
522 |
+
|
523 |
+
|
524 |
+
def convert_zero_checkpoint_to_fp32_state_dict(checkpoint_dir, output_file, tag=None, exclude_frozen_parameters=False):
|
525 |
+
"""
|
526 |
+
Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict`` file that can be
|
527 |
+
loaded with ``torch.load(file)`` + ``load_state_dict()`` and used for training without DeepSpeed.
|
528 |
+
|
529 |
+
Args:
|
530 |
+
- ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
|
531 |
+
- ``output_file``: path to the pytorch fp32 state_dict output file (e.g. path/pytorch_model.bin)
|
532 |
+
- ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
|
533 |
+
- ``exclude_frozen_parameters``: exclude frozen parameters
|
534 |
+
"""
|
535 |
+
|
536 |
+
state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag, exclude_frozen_parameters)
|
537 |
+
print(f"Saving fp32 state dict to {output_file}")
|
538 |
+
torch.save(state_dict, output_file)
|
539 |
+
|
540 |
+
|
541 |
+
def load_state_dict_from_zero_checkpoint(model, checkpoint_dir, tag=None):
|
542 |
+
"""
|
543 |
+
1. Put the provided model to cpu
|
544 |
+
2. Convert ZeRO 2 or 3 checkpoint into a single fp32 consolidated ``state_dict``
|
545 |
+
3. Load it into the provided model
|
546 |
+
|
547 |
+
Args:
|
548 |
+
- ``model``: the model object to update
|
549 |
+
- ``checkpoint_dir``: path to the desired checkpoint folder. (one that contains the tag-folder, like ``global_step14``)
|
550 |
+
- ``tag``: checkpoint tag used as a unique identifier for checkpoint. If not provided will attempt to load tag in the file named ``latest`` in the checkpoint folder, e.g., ``global_step14``
|
551 |
+
|
552 |
+
Returns:
|
553 |
+
- ``model`: modified model
|
554 |
+
|
555 |
+
Make sure you have plenty of CPU memory available before you call this function. If you don't
|
556 |
+
have enough use the ``zero_to_fp32.py`` utility to do the conversion. You will find it
|
557 |
+
conveniently placed for you in the checkpoint folder.
|
558 |
+
|
559 |
+
A typical usage might be ::
|
560 |
+
|
561 |
+
from deepspeed.utils.zero_to_fp32 import load_state_dict_from_zero_checkpoint
|
562 |
+
model = load_state_dict_from_zero_checkpoint(trainer.model, checkpoint_dir)
|
563 |
+
# submit to model hub or save the model to share with others
|
564 |
+
|
565 |
+
Note, that once this was run, the ``model`` will no longer be usable in the deepspeed context
|
566 |
+
of the same application. i.e. you will need to re-initialize the deepspeed engine, since
|
567 |
+
``model.load_state_dict(state_dict)`` will remove all the deepspeed magic from it.
|
568 |
+
|
569 |
+
"""
|
570 |
+
logger.info(f"Extracting fp32 weights")
|
571 |
+
state_dict = get_fp32_state_dict_from_zero_checkpoint(checkpoint_dir, tag)
|
572 |
+
|
573 |
+
logger.info(f"Overwriting model with fp32 weights")
|
574 |
+
model = model.cpu()
|
575 |
+
model.load_state_dict(state_dict, strict=False)
|
576 |
+
|
577 |
+
return model
|
578 |
+
|
579 |
+
|
580 |
+
if __name__ == "__main__":
|
581 |
+
|
582 |
+
parser = argparse.ArgumentParser()
|
583 |
+
parser.add_argument("checkpoint_dir",
|
584 |
+
type=str,
|
585 |
+
help="path to the desired checkpoint folder, e.g., path/checkpoint-12")
|
586 |
+
parser.add_argument(
|
587 |
+
"output_file",
|
588 |
+
type=str,
|
589 |
+
help="path to the pytorch fp32 state_dict output file (e.g. path/checkpoint-12/pytorch_model.bin)")
|
590 |
+
parser.add_argument("-t",
|
591 |
+
"--tag",
|
592 |
+
type=str,
|
593 |
+
default=None,
|
594 |
+
help="checkpoint tag used as a unique identifier for checkpoint. e.g., global_step1")
|
595 |
+
parser.add_argument("--exclude_frozen_parameters", action='store_true', help="exclude frozen parameters")
|
596 |
+
parser.add_argument("-d", "--debug", action='store_true', help="enable debug")
|
597 |
+
args = parser.parse_args()
|
598 |
+
|
599 |
+
debug = args.debug
|
600 |
+
|
601 |
+
convert_zero_checkpoint_to_fp32_state_dict(args.checkpoint_dir,
|
602 |
+
args.output_file,
|
603 |
+
tag=args.tag,
|
604 |
+
exclude_frozen_parameters=args.exclude_frozen_parameters)
|