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unitree_g1_pack_camera/case1/run_world_model_interaction.sh

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+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"

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

unitree_g1_pack_camera/case2/run_world_model_interaction.sh

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+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"

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

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"

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

unitree_g1_pack_camera/case4/run_world_model_interaction.sh

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+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"

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