diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh new file mode 100644 index 0000000..8fe141f --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_cleanup_pencils/case1" +dataset="unitree_z1_dual_arm_cleanup_pencils" + +{ + 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_cleanup_pencils/case1/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 8 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4 b/unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4 new file mode 100644 index 0000000..d0d679a Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case1/unitree_z1_dual_arm_cleanup_pencils_case1.mp4 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/0.png b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/0.png new file mode 100644 index 0000000..2d8739d Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/0.png differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/0.h5 b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/0.h5 new file mode 100644 index 0000000..6b120eb Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/0.h5 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors new file mode 100644 index 0000000..e3194ab Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv new file mode 100644 index 0000000..a749385 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case1/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +0,x,x,unitree_z1_dual_arm_cleanup_pencils,clean up eraser and pencils,x,x,x,Z1_Dual_Dex1,30 diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh new file mode 100644 index 0000000..2b84103 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_cleanup_pencils/case2" +dataset="unitree_z1_dual_arm_cleanup_pencils" + +{ + 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_cleanup_pencils/case2/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 8 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4 b/unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4 new file mode 100644 index 0000000..8e27498 Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case2/unitree_z1_dual_arm_cleanup_pencils_case2.mp4 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/50.png b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/50.png new file mode 100644 index 0000000..91725eb Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/50.png differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/50.h5 b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/50.h5 new file mode 100644 index 0000000..6c08657 Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/50.h5 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors new file mode 100644 index 0000000..e3194ab Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv new file mode 100644 index 0000000..a754862 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case2/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +50,x,x,unitree_z1_dual_arm_cleanup_pencils,clean up eraser and pencils,x,x,x,Z1_Dual_Dex1,30 diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh new file mode 100644 index 0000000..78c56d7 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_cleanup_pencils/case3" +dataset="unitree_z1_dual_arm_cleanup_pencils" + +{ + 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_cleanup_pencils/case3/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 8 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4 b/unitree_z1_dual_arm_cleanup_pencils/case3/unitree_z1_dual_arm_cleanup_pencils_case3.mp4 new file 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b/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/100.h5 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors b/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors new file mode 100644 index 0000000..e3194ab Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv b/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv new file mode 100644 index 0000000..3462452 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case3/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +100,x,x,unitree_z1_dual_arm_cleanup_pencils,clean up eraser and pencils,x,x,x,Z1_Dual_Dex1,30 diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh new file mode 100644 index 0000000..9367c09 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/run_world_model_interaction.sh @@ -0,0 +1,24 @@ +res_dir="unitree_z1_dual_arm_cleanup_pencils/case4" +dataset="unitree_z1_dual_arm_cleanup_pencils" + +{ + 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_cleanup_pencils/case4/world_model_interaction_prompts" \ + --dataset ${dataset} \ + --video_length 16 \ + --frame_stride 4 \ + --n_action_steps 16 \ + --exe_steps 16 \ + --n_iter 8 \ + --timestep_spacing 'uniform_trailing' \ + --guidance_rescale 0.7 \ + --perframe_ae +} 2>&1 | tee "${res_dir}/output.log" diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4 b/unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4 new file mode 100644 index 0000000..eb2f3cd Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case4/unitree_z1_dual_arm_cleanup_pencils_case4.mp4 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/200.png b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/200.png new file mode 100644 index 0000000..9934a16 Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/images/unitree_z1_dual_arm_cleanup_pencils/200.png differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/200.h5 b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/200.h5 new file mode 100644 index 0000000..97ccecc Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/200.h5 differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors new file mode 100644 index 0000000..e3194ab Binary files /dev/null and b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/transitions/unitree_z1_dual_arm_cleanup_pencils/meta_data/stats.safetensors differ diff --git a/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv new file mode 100644 index 0000000..498d7f1 --- /dev/null +++ b/unitree_z1_dual_arm_cleanup_pencils/case4/world_model_interaction_prompts/unitree_z1_dual_arm_cleanup_pencils.csv @@ -0,0 +1,2 @@ +videoid,contentUrl,duration,data_dir,instruction,dynamic_confidence,dynamic_wording,dynamic_source_category,embodiment,fps +200,x,x,unitree_z1_dual_arm_cleanup_pencils,clean up eraser and pencils,x,x,x,Z1_Dual_Dex1,30