
    ܱi+                     T    d dl Z d dlZd dlZd dlmZ e G d d                      ZdS )    N)	dataclassc            	       (   e Zd ZU dZdZdZdZdZdZdZ	eZ
dgZd	Zd
ZdZdZdZdZde ZeZdZdZdZdZd
ZdZdZdZdZdZdZdZdZ dZ!dZ"dZ#dZ$dZ%dZ&dZ'dZ(dZ)dZ*dZ+dZ,e-j.        Z/d Z0e1e2d!<   dd"d#d#d$d#d%d"d&Z3d d'iZ4d(Z5d)Z6dZ7d*Z8d+Z9d,Z:eZ;g d-Z<d.Z=d/ Z>d0S )1wm_argsz1/cephfs/shared/llm/stable-video-diffusion-img2vidz(/cephfs/shared/llm/clip-vit-base-patch32zM/cephfs/cjyyj/code/video_evaluation/output2/exp33_210_s11/checkpoint-10000.ptzF/cephfs/shared/llm/openpi/openpi-assets-preview/checkpoints/pi05_droiddataset_exampledroid_subsetdataset_meta_infog      ?
annotation         Fdoird_subsetzmodel_ckpt/droid_examplegh㈵>fp16Td   i  i N  i	  
         2   i@           	pickplace	task_type      ?gffffff?g
ףp=
?g333333?)replayr   
towel_fold
wipe_tabletissueclose_laptopdrawerstackgq=
ףp?pi05z%models/action_adapter/model2_15_9.pth      z!dataset_meta_info/droid/stat.json)r   r   iiisynthetic_trajc                 	   | j                             | j        d          | _        | j                            | j        d          | _        d| _        | j        dk    rd| _        | j        dk    rTd| _        g d| _        g dt          | j                  z  | _
        d	gt          | j                  z  | _        d| _        d S | j        d
k    rRd| _        dg| _        dgt          | j                  z  | _
        d	gt          | j                  z  | _        d| _        d S | j        dk    r?d| _        d| _        g d| _        dgt          | j                  z  | _
        g d| _        d S | j        dk    rd| _        d| _        ddg| _        dgt          | j                  z  | _
        dgt          | j                  z  | _        d| _        g d| _        dgt          | j                  z  | _
        dgt          | j                  z  | _        d S | j        dk    r8d| _        g d| _        dgt          | j                  z  | _
        g d| _        d S | j        dk    rd| _        g d | _        dgt          | j                  z  | _
        d!gt          | j                  z  | _        d"| _        d| _        g d | _        dgt          | j                  z  | _
        d!gt          | j                  z  | _        d"| _        d#| _        g d$| _        dgt          | j                  z  | _
        d!gt          | j                  z  | _        d"| _        d S | j        d%k    rd| _        d&d'g| _        dgt          | j                  z  | _
        d(gt          | j                  z  | _        d"| _        d)| _        g d*| _        dgt          | j                  z  | _
        d(gt          | j                  z  | _        d"| _        d S | j        d+k    rd| _        d,d-g| _        d.gt          | j                  z  | _
        d/gt          | j                  z  | _        d0| _        g d1| _        d2gt          | j                  z  | _
        g d3| _        d S | j        d4k    r?d5| _        g d6| _        d2gt          | j                  z  | _
        g d7| _        d"| _        d S t          d8| j                   )9Nr   g
ףp=
?Rollouts_interact_pir   Rollouts_replayzdataset_example/droid_subset)89918599199)      r-    keyboard1799   Rollouts_keyboardr      zO/cephfs/shared/droid_hf/data_iclr/droid_real_all_iclr/droid_real0914/droid_pi05)
i i i i= i iP i i+ i i r   )
/pick up the blue block and place in white plater5   r5   r5   r5   0pick up the green block and place in white plater6   r6   .pick up the red block and place in white plater7   r   zdataset_example/droid_new_setup00040005zfold the towelz/dataset_example/droid_new_setup_eval/towel_fold)000018000044000120000228000255000336000403000427000453000643000739000803000833000902235555235713235826235933r   zO/cephfs/shared/droid_hf/data_iclr/droid_real_all_iclr/droid_real0918/droid_pi05)134750134908135009135048135205)#moving the towel from left to rightz#moving the towel from right to leftrQ   rQ   rQ   r   )135334135425135525135623zpull one tissue out of the boxr   zO/cephfs/shared/droid_hf/data_iclr/droid_real_all_iclr/droid_real0922/droid_pi05)213026213128213222213333213535r   00100011zclose the laptopz+dataset_example/droid_new_setup_eval/laptop)135749135849135931175856175930180035r!   00120013r   %stack the blue block on the red blockz*dataset_example/droid_new_setup_eval/stack)163907164016164350232817233512234632234823r   )re   re   re   re   z&stack the green block on the red block'stack the blue block on the green blockrm   r    zO/cephfs/shared/droid_hf/data_iclr/droid_real_all_iclr/droid_real0913/droid_pi05)im im i@n ip iŕ )*pick up the sponge and place in the drawerrn   rn   rn   rn   zUnknown task type: )gripper_max_dictgetr   gripper_max
z_min_dictz_min	task_nameval_dataset_dirval_idlen	start_idxinstructioninteract_numpolicy_skip_step
ValueError)selfs    )/data/cameron/vidgen/Ctrl-World/config.py__post_init__zwm_args.__post_init__^   sI   044T^TJJ_((>>
0>X%%.DN >X%%#AD 111DK'ZZ#dk*:*::DN "tc$+&6&66D.DNNN^z))#AD !(DK TC$4$44DN "tc$+&6&66D0DNNN ^{** "D $uD aaaDKST[!1!11DN R  R  RD
 ^|++ "D#DD  DKS3t{#3#33DN 01C4D4DDD#TD  O  O  ODKST[!1!11DN 01#dk2B2BBD^|++ $uD LLLDKS3t{#3#33DN  a   a   aD^x'' $uD BBBDKS3t{#3#33DN @A#dkBRBRRD$%D!#tD BBBDKS3t{#3#33DN @A#dkBRBRRD$%D!#tD HHHDKS3t{#3#33DN @A#dkBRBRRD$%D!!!^~--#DD !&/DKS3t{#3#33DN 23c$+6F6FFD$%D!#PD QQQDKS3t{#3#33DN 23c$+6F6FFD$%D!!!^w&&#DD !&/DKS3t{#3#33DN GH3t{K[K[[D#OD ZZZDK TC$4$44DN  ~   ~   ~D^x''#tD >>>DK T#dk"2"22DN  F   F   FD$%D!!! C4>CCDDD    N)?__name__
__module____qualname__svd_model_pathclip_model_path	ckpt_pathpi_ckptdataset_root_pathdataset_namesdataset_meta_info_pathdataset_cfgsprobannotation_namenum_workersdown_sample	skip_stepdebugtag
output_dirwandb_run_namewandb_project_namelearning_rategradient_accumulation_stepsmixed_precisiontrain_batch_sizeshufflenum_train_epochsmax_train_stepscheckpointing_stepsvalidation_stepsmax_grad_norm	video_nummotion_bucket_idfpsguidance_scalenum_inference_stepsdecode_chunk_sizewidthheight
num_framesnum_history
action_dim	text_condframe_level_condhis_cond_zerotorchbfloat16dtyper   str__annotations__ro   rr   policy_typeaction_adapter	pred_stepr{   rz   data_stat_pathval_model_pathhistory_idxsave_dirr    r   r~   r   r      s         IN@O_IVG *"M0 L
D OKKI E
C$s$$JN( M"#OGOMI
 
CNEFJKJIMNE !Is   !$$TX\gk  }A  KN  W[  ]  ]d#JK<NIL 9NN$$$K  HEE EE EE EE EEr   r   )r   osjsondataclassesr   r   r   r   r~   <module>r      s     				  ! ! ! ! ! ! [E [E [E [E [E [E [E [E [E [Er   