diff --git a/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh new file mode 100644 index 0000000..0d9ed4c --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_stackbox/case1" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4 b/unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4 new file mode 100644 index 0000000..c6a50d1 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case1/unitree_z1_dual_arm_stackbox_case1.mp4 differ diff --git a/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/5.png b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/5.png new file mode 100644 index 0000000..eb6e272 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/5.png differ diff --git a/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/5.h5 b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/5.h5 new file mode 100644 index 0000000..af951c1 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/5.h5 differ diff --git a/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors new file mode 100644 index 0000000..fa7fd40 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv new file mode 100644 index 0000000..6e7f0a8 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case1/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +5,x,x,unitree_z1_dual_arm_stackbox,"Pick up the red cup on the table.",x,x,x,Unitree Z1 Robot Dual-Arm,30 diff --git a/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh new file mode 100644 index 0000000..7b6d005 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case2/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_stackbox/case2" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4 b/unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4 new file mode 100644 index 0000000..6c9a90c Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case2/unitree_z1_dual_arm_stackbox_case2.mp4 differ diff --git a/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/15.png b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/15.png new file mode 100644 index 0000000..676341b Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/15.png differ diff --git a/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/15.h5 b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/15.h5 new file mode 100644 index 0000000..bf66fa5 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/15.h5 differ diff --git a/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors new file mode 100644 index 0000000..fa7fd40 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv new file mode 100644 index 0000000..79f4f8c --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case2/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +15,x,x,unitree_z1_dual_arm_stackbox,"Pick up the red cup on the table.",x,x,x,Unitree Z1 Robot Dual-Arm,30 diff --git a/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh new file mode 100644 index 0000000..1058f25 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_stackbox/case3" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4 b/unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4 new file mode 100644 index 0000000..0f3be66 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case3/unitree_z1_dual_arm_stackbox_case3.mp4 differ diff --git a/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/25.png b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/25.png new file mode 100644 index 0000000..5540f09 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/25.png differ diff --git a/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/25.h5 b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/25.h5 new file mode 100644 index 0000000..8a6ca42 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/25.h5 differ diff --git a/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors new file mode 100644 index 0000000..fa7fd40 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv new file mode 100644 index 0000000..3bbd2da --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case3/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +25,x,x,unitree_z1_dual_arm_stackbox,"Pick up the red cup on the table.",x,x,x,Unitree Z1 Robot Dual-Arm,30 diff --git a/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh new file mode 100644 index 0000000..fa46100 --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case4/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_stackbox/case4" +dataset="unitree_z1_dual_arm_stackbox" + +{ + time CUDA_VISIBLE_DEVICES=0 python3 scripts/evaluation/world_model_interaction.py \ + --seed 123 \ + --ckpt_path ckpts/unifolm_wma_dual.ckpt \ + --config configs/inference/world_model_interaction.yaml \ + --savedir "${res_dir}/output" \ + --bs 1 --height 320 --width 512 \ + --unconditional_guidance_scale 1.0 \ + --ddim_steps 50 \ + --ddim_eta 1.0 \ + --prompt_dir "unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 7 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4 b/unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4 new file mode 100644 index 0000000..384b150 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case4/unitree_z1_dual_arm_stackbox_case4.mp4 differ diff --git a/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/35.png b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/35.png new file mode 100644 index 0000000..f3ec0a3 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_stackbox/35.png differ diff --git a/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/35.h5 b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/35.h5 new file mode 100644 index 0000000..875155b Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/35.h5 differ diff --git a/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors new file mode 100644 index 0000000..fa7fd40 Binary files /dev/null and b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_stackbox/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv new file mode 100644 index 0000000..f22144c --- /dev/null +++ b/unitree_z1_dual_arm_stackbox/case4/world_model_interaction_prompts/unitree_z1_dual_arm_stackbox.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +35,x,x,unitree_z1_dual_arm_stackbox,"Pick up the red cup on the table.",x,x,x,Unitree Z1 Robot Dual-Arm,30