format_version int64 | key dict | traj_info dict |
|---|---|---|
1 | {"source":{"persist_id":"bones_seed_sonic_full_129785@e714bbff"},"manifest":"/mnt/storage/fwu91/bone(...TRUNCATED) | {"capacity":47491234,"written":47491234,"start_index":[0,184,530,1027,1759,2229,2738,3185,3317,3713,(...TRUNCATED) |
Reference arrays: bones_seed_sonic_full_129785@e714bbff
Training-shaped reference arrays for humanoid motion tracking:
129,785 trajectories, 47,491,234 transitions,
49.4 GB. Built from GeorgiaTech/g1_bones_seed_sonic_129k_50hz.
This is a derived artifact, not a source dataset. It holds exactly the tensors
an imitation environment consumes at run time, in their final layout, so a
consumer memory-maps them instead of rebuilding a Zarr and a replay buffer. The
authority on its identity is reference_arrays_manifest.json, which also carries the full
trajectory table (start_index / end_index / ordered_traj_list) — without
it the arrays are unloadable.
Contents
| array | shape | dtype | quaternion order |
|---|---|---|---|
anchor_pos_w |
(47491234, 3) | float32 | - |
anchor_quat_w |
(47491234, 4) | float32 | xyzw |
body_ang_vel_w |
(47491234, 14, 3) | float32 | - |
body_lin_vel_w |
(47491234, 14, 3) | float32 | - |
body_pos_w |
(47491234, 14, 3) | float32 | - |
body_quat_w |
(47491234, 14, 4) | float32 | wxyz |
qpos |
(47491234, 36) | float32 | - |
qvel |
(47491234, 35) | float32 | - |
Retained bodies (order is the column layout, not a set):
pelvis, left_hip_roll_link, left_knee_link, left_ankle_roll_link, right_hip_roll_link, right_knee_link, right_ankle_roll_link, torso_link, left_shoulder_roll_link, left_elbow_link, left_wrist_yaw_link, right_shoulder_roll_link, right_elbow_link, right_wrist_yaw_link
Baked anchor body: pelvis. Any other anchor within the
retained set is derived at load time from the body arrays, so this artifact
serves those too.
joint_pos and joint_vel are deliberately absent: they are qpos[:, 7:] and
qvel[:, 6:].
Provenance
- source manifest SHA-256:
eb0ad052afe72fb6228f4be9d52132c9cb9a52ac9c561751e49e6ca31346e688 - joints (29): recorded in the sidecar
- full dataset body order (30): recorded in the sidecar
Use
python -m imitation_experiments.data.publish_reference_arrays fetch \
--repo_id <this repo> --dest_dir /path/on/compute/node \
--persist_id bones_seed_sonic_full_129785@e714bbff \
--expected_motions 129785 \
--expected_transitions 47491234
Then point the environment at it:
env.data.manifest=null
env.data.reference_arrays_dir=/path/on/compute/node
env.data.runtime_cache_device=cpu
env.data.macro_cache_device=cuda:0
The fetch validates the sidecar and every array's size against it. It does not
re-verify contents against the source NPZs; do that at build time with
build_reference_arrays.py --verify_load.
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