commit 4841f15f9aee675ab43b072af441573946ef2299 Author: ASC-Competition <50946625+ASC-Competition@users.noreply.github.com> Date: Mon Jan 12 14:03:05 2026 +0800 Add files via upload diff --git a/unitree_g1_pack_camera/case1/run_world_model_interaction.sh b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh new file mode 100644 index 0000000..e0e900f --- /dev/null +++ b/unitree_g1_pack_camera/case1/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_g1_pack_camera/case1" +dataset="unitree_g1_pack_camera" + +{ + 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_g1_pack_camera/case1/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 6 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4 b/unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4 new file mode 100644 index 0000000..61c9da6 Binary files /dev/null and b/unitree_g1_pack_camera/case1/unitree_g1_pack_camera_case1.mp4 differ diff --git a/unitree_g1_pack_camera/case1/world_model_interaction_prompts/images/unitree_g1_pack_camera/0.png b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/images/unitree_g1_pack_camera/0.png new file mode 100644 index 0000000..8008d7a Binary files /dev/null and b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/images/unitree_g1_pack_camera/0.png differ diff --git a/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/0.h5 b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/0.h5 new file mode 100644 index 0000000..a5bf1f7 Binary files /dev/null and b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/0.h5 differ diff --git a/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors new file mode 100644 index 0000000..4bdf81f Binary files /dev/null and b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors differ diff --git a/unitree_g1_pack_camera/case1/world_model_interaction_prompts/unitree_g1_pack_camera.csv b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/unitree_g1_pack_camera.csv new file mode 100644 index 0000000..2bdc1cd --- /dev/null +++ b/unitree_g1_pack_camera/case1/world_model_interaction_prompts/unitree_g1_pack_camera.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +0,x,x,unitree_g1_pack_camera,mount camera,x,x,x,G1_Dex1,30 diff --git a/unitree_g1_pack_camera/case2/run_world_model_interaction.sh b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh new file mode 100644 index 0000000..36e613d --- /dev/null +++ b/unitree_g1_pack_camera/case2/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_g1_pack_camera/case2" +dataset="unitree_g1_pack_camera" + +{ + 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_g1_pack_camera/case2/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 6 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4 b/unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4 new file mode 100644 index 0000000..9c028c6 Binary files /dev/null and b/unitree_g1_pack_camera/case2/unitree_g1_pack_camera_case2.mp4 differ diff --git a/unitree_g1_pack_camera/case2/world_model_interaction_prompts/images/unitree_g1_pack_camera/50.png b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/images/unitree_g1_pack_camera/50.png new file mode 100644 index 0000000..83eebaf Binary files /dev/null and b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/images/unitree_g1_pack_camera/50.png differ diff --git a/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/50.h5 b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/50.h5 new file mode 100644 index 0000000..90e741b Binary files /dev/null and b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/50.h5 differ diff --git a/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors new file mode 100644 index 0000000..4bdf81f Binary files /dev/null and b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors differ diff --git a/unitree_g1_pack_camera/case2/world_model_interaction_prompts/unitree_g1_pack_camera.csv b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/unitree_g1_pack_camera.csv new file mode 100644 index 0000000..35ead3a --- /dev/null +++ b/unitree_g1_pack_camera/case2/world_model_interaction_prompts/unitree_g1_pack_camera.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +50,x,x,unitree_g1_pack_camera,mount camera,x,x,x,G1_Dex1,30 diff --git a/unitree_g1_pack_camera/case3/run_world_model_interaction.sh b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh new file mode 100644 index 0000000..87e3098 --- /dev/null +++ b/unitree_g1_pack_camera/case3/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_g1_pack_camera/case3" +dataset="unitree_g1_pack_camera" + +{ + 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_g1_pack_camera/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 6 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4 b/unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4 new file mode 100644 index 0000000..44e8f21 Binary files /dev/null and b/unitree_g1_pack_camera/case3/unitree_g1_pack_camera_case3.mp4 differ diff --git a/unitree_g1_pack_camera/case3/world_model_interaction_prompts/images/unitree_g1_pack_camera/100.png b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/images/unitree_g1_pack_camera/100.png new file mode 100644 index 0000000..2f658f3 Binary files /dev/null and b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/images/unitree_g1_pack_camera/100.png differ diff --git a/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/100.h5 b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/100.h5 new file mode 100644 index 0000000..f976464 Binary files /dev/null and b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/100.h5 differ diff --git a/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors new file mode 100644 index 0000000..4bdf81f Binary files /dev/null and b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors differ diff --git a/unitree_g1_pack_camera/case3/world_model_interaction_prompts/unitree_g1_pack_camera.csv b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/unitree_g1_pack_camera.csv new file mode 100644 index 0000000..c6350c9 --- /dev/null +++ b/unitree_g1_pack_camera/case3/world_model_interaction_prompts/unitree_g1_pack_camera.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +100,x,x,unitree_g1_pack_camera,mount camera,x,x,x,G1_Dex1,30 diff --git a/unitree_g1_pack_camera/case4/run_world_model_interaction.sh b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh new file mode 100644 index 0000000..46c5217 --- /dev/null +++ b/unitree_g1_pack_camera/case4/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_g1_pack_camera/case4" +dataset="unitree_g1_pack_camera" + +{ + 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_g1_pack_camera/case4/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 6 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 11 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4 b/unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4 new file mode 100644 index 0000000..60712eb Binary files /dev/null and b/unitree_g1_pack_camera/case4/unitree_g1_pack_camera_case4.mp4 differ diff --git a/unitree_g1_pack_camera/case4/world_model_interaction_prompts/images/unitree_g1_pack_camera/200.png b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/images/unitree_g1_pack_camera/200.png new file mode 100644 index 0000000..3c718aa Binary files /dev/null and b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/images/unitree_g1_pack_camera/200.png differ diff --git a/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/200.h5 b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/200.h5 new file mode 100644 index 0000000..606c218 Binary files /dev/null and b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/200.h5 differ diff --git a/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors new file mode 100644 index 0000000..4bdf81f Binary files /dev/null and b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/transitions/unitree_g1_pack_camera/meta_data/stats.safetensors differ diff --git a/unitree_g1_pack_camera/case4/world_model_interaction_prompts/unitree_g1_pack_camera.csv b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/unitree_g1_pack_camera.csv new file mode 100644 index 0000000..1fae9f0 --- /dev/null +++ b/unitree_g1_pack_camera/case4/world_model_interaction_prompts/unitree_g1_pack_camera.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +200,x,x,unitree_g1_pack_camera,mount camera,x,x,x,G1_Dex1,30