Hugging Face's logo

dontKnow23456
/
WAM-Policy

Robotics
PyTorch
video-generation
flow-matching
distillation
wan
Model card Files
xet
 Community
dontKnow23456 commited on
Commit
fbc456f
·
verified ·
1 Parent(s): 41eb1b3

Add 90k videos + adapters

Browse files
Files changed (6) hide show
  1. .gitattributes +3 -0
  2. video_ffm_90k/adapters_only.pt +3 -0
  3. video_ffm_90k/offline_video_stream_metadata.json +188 -0
  4. video_ffm_90k/student_4step.mp4 +3 -0
  5. video_ffm_90k/teacher_25step.mp4 +3 -0
  6. video_ffm_90k/teacher_vs_student.mp4 +3 -0
.gitattributes CHANGED
@@ -39,3 +39,6 @@ video_ffm_50k/teacher_vs_student.mp4 filter=lfs diff=lfs merge=lfs -text
39
  video_ffm_5k/student_4step.mp4 filter=lfs diff=lfs merge=lfs -text
40
  video_ffm_5k/teacher_25step.mp4 filter=lfs diff=lfs merge=lfs -text
41
  video_ffm_5k/teacher_vs_student.mp4 filter=lfs diff=lfs merge=lfs -text
 
 
 
 
39
  video_ffm_5k/student_4step.mp4 filter=lfs diff=lfs merge=lfs -text
40
  video_ffm_5k/teacher_25step.mp4 filter=lfs diff=lfs merge=lfs -text
41
  video_ffm_5k/teacher_vs_student.mp4 filter=lfs diff=lfs merge=lfs -text
42
+ video_ffm_90k/student_4step.mp4 filter=lfs diff=lfs merge=lfs -text
43
+ video_ffm_90k/teacher_25step.mp4 filter=lfs diff=lfs merge=lfs -text
44
+ video_ffm_90k/teacher_vs_student.mp4 filter=lfs diff=lfs merge=lfs -text
video_ffm_90k/adapters_only.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1ddf33dc27a6ff24e1220246a3aef8bda52d4c419b74b53e7ca0c4bfdf6b925
3
+ size 795903768
video_ffm_90k/offline_video_stream_metadata.json ADDED
@@ -0,0 +1,188 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "chunk_key": null,
3
+ "composition_mode": "grid",
4
+ "encoding": {
5
+ "offline_video_stream/student_4step": {
6
+ "backend": "imageio-ffmpeg",
7
+ "codec": "libx264_or_default",
8
+ "error": null,
9
+ "fallback_level": "cpu",
10
+ "fps": 10,
11
+ "path": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/student_4step.mp4",
12
+ "succeeded": true
13
+ },
14
+ "offline_video_stream/teacher_25step": {
15
+ "backend": "imageio-ffmpeg",
16
+ "codec": "libx264_or_default",
17
+ "error": null,
18
+ "fallback_level": "cpu",
19
+ "fps": 10,
20
+ "path": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/teacher_25step.mp4",
21
+ "succeeded": true
22
+ },
23
+ "offline_video_stream/teacher_vs_student": {
24
+ "backend": "imageio-ffmpeg",
25
+ "codec": "libx264_or_default",
26
+ "error": null,
27
+ "fallback_level": "cpu",
28
+ "fps": 10,
29
+ "path": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/teacher_vs_student.mp4",
30
+ "succeeded": true
31
+ }
32
+ },
33
+ "episode_key": null,
34
+ "indices": [
35
+ 0,
36
+ 1,
37
+ 2,
38
+ 3,
39
+ 4,
40
+ 5,
41
+ 6,
42
+ 7
43
+ ],
44
+ "selected_meta": [
45
+ {
46
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000000_0_143_context.pt",
47
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000000_0_143_context.pt",
48
+ "dtype": "bfloat16",
49
+ "prompt": "Use the right arm to grab and lift the bottle with narrow top head-up.",
50
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000000_0_143",
51
+ "shape": [
52
+ 48,
53
+ 9,
54
+ 16,
55
+ 20
56
+ ],
57
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000000_0_143.pth",
58
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000000_0_143_z.pt",
59
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000000_0_143_z.pt"
60
+ },
61
+ {
62
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000001_0_143_context.pt",
63
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000001_0_143_context.pt",
64
+ "dtype": "bfloat16",
65
+ "prompt": "Grab the green bottle with indented base and lift it into a head-up position",
66
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000001_0_143",
67
+ "shape": [
68
+ 48,
69
+ 9,
70
+ 16,
71
+ 20
72
+ ],
73
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000001_0_143.pth",
74
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000001_0_143_z.pt",
75
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000001_0_143_z.pt"
76
+ },
77
+ {
78
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000002_0_142_context.pt",
79
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000002_0_142_context.pt",
80
+ "dtype": "bfloat16",
81
+ "prompt": "Grab the smooth bottle with red lid and lift it with the left arm",
82
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000002_0_142",
83
+ "shape": [
84
+ 48,
85
+ 9,
86
+ 16,
87
+ 20
88
+ ],
89
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000002_0_142.pth",
90
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000002_0_142_z.pt",
91
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000002_0_142_z.pt"
92
+ },
93
+ {
94
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000003_0_149_context.pt",
95
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000003_0_149_context.pt",
96
+ "dtype": "bfloat16",
97
+ "prompt": "Lift the red-capped bottle head-up from the table",
98
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000003_0_149",
99
+ "shape": [
100
+ 48,
101
+ 10,
102
+ 16,
103
+ 20
104
+ ],
105
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000003_0_149.pth",
106
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000003_0_149_z.pt",
107
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000003_0_149_z.pt"
108
+ },
109
+ {
110
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000004_0_145_context.pt",
111
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000004_0_145_context.pt",
112
+ "dtype": "bfloat16",
113
+ "prompt": "Hold the bottle with ridges near base head-up after lifting it.",
114
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000004_0_145",
115
+ "shape": [
116
+ 48,
117
+ 10,
118
+ 16,
119
+ 20
120
+ ],
121
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000004_0_145.pth",
122
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000004_0_145_z.pt",
123
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000004_0_145_z.pt"
124
+ },
125
+ {
126
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000005_0_136_context.pt",
127
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000005_0_136_context.pt",
128
+ "dtype": "bfloat16",
129
+ "prompt": "Lift the medium green bottle with capped neck upright carefully using the left arm",
130
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000005_0_136",
131
+ "shape": [
132
+ 48,
133
+ 9,
134
+ 16,
135
+ 20
136
+ ],
137
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000005_0_136.pth",
138
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000005_0_136_z.pt",
139
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000005_0_136_z.pt"
140
+ },
141
+ {
142
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000006_0_144_context.pt",
143
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000006_0_144_context.pt",
144
+ "dtype": "bfloat16",
145
+ "prompt": "Lift the dark drink bottle with logo off the table and hold it upright.",
146
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000006_0_144",
147
+ "shape": [
148
+ 48,
149
+ 9,
150
+ 16,
151
+ 20
152
+ ],
153
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000006_0_144.pth",
154
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000006_0_144_z.pt",
155
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000006_0_144_z.pt"
156
+ },
157
+ {
158
+ "context": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000007_0_144_context.pt",
159
+ "context_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000007_0_144_context.pt",
160
+ "dtype": "bfloat16",
161
+ "prompt": "Hold the brown bottle with red label head-up after lifting it.",
162
+ "sample_id": "lerobot_robotwin_eef_aug_500__adjust_bottle-aloha-agilex_randomized_500-1000__latents__chunk-000__observation.images.cam_high__episode_000007_0_144",
163
+ "shape": [
164
+ 48,
165
+ 9,
166
+ 16,
167
+ 20
168
+ ],
169
+ "source": "/home/yue/WAM-Policy/datasets/raw/robotwin-clean-and-aug-lerobot/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000007_0_144.pth",
170
+ "z_clean": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000007_0_144_z.pt",
171
+ "z_clean_path": "/shared/yue/wam-policy/latents/robotwin_video_ffm_full/lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/latents/chunk-000/observation.images.cam_high/episode_000007_0_144_z.pt"
172
+ }
173
+ ],
174
+ "selection_reason": "no reliable continuous episode/chunk metadata found",
175
+ "student_steps": 4,
176
+ "teacher_steps": 25,
177
+ "videos": {
178
+ "offline_video_stream/student_4step": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/student_4step.mp4",
179
+ "offline_video_stream/teacher_25step": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/teacher_25step.mp4",
180
+ "offline_video_stream/teacher_vs_student": "/shared/yue/WAM-Policy/results/v2/visualization_admin/729/offline_video_stream/teacher_vs_student.mp4"
181
+ },
182
+ "wandb_run_url": null,
183
+ "wandb_video_status": {
184
+ "offline_video_stream/student_4step": false,
185
+ "offline_video_stream/teacher_25step": false,
186
+ "offline_video_stream/teacher_vs_student": false
187
+ }
188
+ }
video_ffm_90k/student_4step.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d95ad5005f8d516f57a4be7c82e2f468c28bf48684f4174723d1c439ef3761e3
3
+ size 416501
video_ffm_90k/teacher_25step.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4030a6eb6a60106f770f3b4564a89853fcd0eb25aa48d6fb26b6ed2740ad59cf
3
+ size 609686
video_ffm_90k/teacher_vs_student.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c62cbbfa337365690c6fa3ad705faf67f4dbfbea042dfa11b15c4a92305a073c
3
+ size 1047305