[Cosmos3 OSS]Add more action dataset#34
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lzhang57
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Jun 10, 2026
lzhang57
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- Add more action datasets, covering bridge/AgibotWorldBeta/Robomind Franka Dual
- Add action stats for action datasets.
- Add action denormalization.
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LGTM! |
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@lzhang57 Some conflicts seems should be solved. |
foreverlms
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Jun 12, 2026
rahul-steiger-nv
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Jun 15, 2026
1. Add more action datasets, covering bridge/AgibotWorldBeta/Robomind Franka Dual 2. Add action stats for action datasets. 3. Add action denormalization.
fwd4
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Jun 17, 2026
…ebased on main) Rebased onto current main. main NVIDIA#34 upstreamed the DROID dataset (joint_pos, use_state, keep-ranges filter, action_space) so droid_lerobot_dataset.py now carries only the get_shuffle_blocks helper grafted onto main's version; NVIDIA#29's recipe change (dropped /cluster override) is incorporated. Remaining contribution: action_policy_droid_nano recipe (mode=policy, lr=2e-4 @ 8192 global, max_num_tokens_after_packing=-1, scrubbed comments), the episode-shuffle stream (action_sft_dataset.py), the multi-node-capable SFT launcher (NNODES/NODE_RANK/MASTER_ADDR passthrough + EXTRA_TAIL_OVERRIDES), and the post-train doc. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> Signed-off-by: Hao Liang <haolia@nvidia.com>
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