From 8e2c6399a40ff862c47a1b8430f113ef4a1c3b32 Mon Sep 17 00:00:00 2001 From: liangkaiz Date: Wed, 17 Jun 2026 00:39:48 -0700 Subject: [PATCH 1/2] Expose more dataset property --- .../action/datasets/agibotworld_beta_lerobot_dataset.py | 2 +- .../data/vfm/action/datasets/base_dataset.py | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py b/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py index f95feea..efcf886 100644 --- a/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py +++ b/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py @@ -112,7 +112,7 @@ class AgiBotWorldBetaLeRobotDataset(ActionBaseDataset): def __init__( self, root: str, - fps: float = 10.0, + fps: float = 30.0, chunk_length: int = 16, mode: str = "joint", pose_convention: PoseConvention = "backward_framewise", diff --git a/cosmos_framework/data/vfm/action/datasets/base_dataset.py b/cosmos_framework/data/vfm/action/datasets/base_dataset.py index 564d48e..a93e6ce 100644 --- a/cosmos_framework/data/vfm/action/datasets/base_dataset.py +++ b/cosmos_framework/data/vfm/action/datasets/base_dataset.py @@ -57,6 +57,7 @@ def __init__( self._pose_convention = pose_convention self._tolerance_s = float(tolerance_s) self._viewpoint = viewpoint + self._domain_name = domain_name self._domain_id = get_domain_id(domain_name) self._action_normalization = action_normalization self._norm_stats: dict[str, torch.Tensor] | None = None @@ -97,6 +98,14 @@ def mode(self) -> str: def mode(self, value: str) -> None: self._mode = value + @property + def domain_name(self) -> str: + return self._domain_name + + @property + def viewpoint(self) -> str: + return self._viewpoint + @property def domain_id(self) -> int: return self._domain_id From e0a73dd342d0f69e814080d9a2419be60f1e48bf Mon Sep 17 00:00:00 2001 From: liangkaiz Date: Wed, 17 Jun 2026 00:44:21 -0700 Subject: [PATCH 2/2] minor fix --- .../vfm/action/datasets/agibotworld_beta_lerobot_dataset.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py b/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py index efcf886..f95feea 100644 --- a/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py +++ b/cosmos_framework/data/vfm/action/datasets/agibotworld_beta_lerobot_dataset.py @@ -112,7 +112,7 @@ class AgiBotWorldBetaLeRobotDataset(ActionBaseDataset): def __init__( self, root: str, - fps: float = 30.0, + fps: float = 10.0, chunk_length: int = 16, mode: str = "joint", pose_convention: PoseConvention = "backward_framewise",