add mot (#83)

* add mot

* update libero example

* translate zh to en

* fix load model from hf

* lint

* lint

---------

Co-authored-by: yangping <yangping@x2robot.com>

workspace/lerobot_example/libero/config_qact_libero_from_vlm.yml

@@ -31,38 +31,26 @@ epoch_save_interval: 1
 
 # Robot configuration - Define degrees of freedom for each component
 dof_config:
-  follow_left_ee_cartesian_pos: 3      # Left end-effector Cartesian position
-  follow_left_ee_rotation: 3           # Left end-effector rotation
-  follow_left_gripper: 1               # Left gripper control
-  follow_right_ee_cartesian_pos: 3     # Right end-effector Cartesian position
-  follow_right_ee_rotation: 3          # Right end-effector rotation
-  follow_right_gripper: 1              # Right gripper control
-  head_actions: 2                      # Head/camera movement
-  height: 1                            # Mobile base height control
-  car_pose: 3                          # Mobile base pose (x, y, theta)
+  master_right_ee_cartesian_pos: 3     # Right end-effector Cartesian position
+  master_right_ee_rotation: 3          # Right end-effector rotation
+  master_right_gripper: 1              # Right gripper control
 
 # Agent proprioception configuration (typically matches DOF config)
 agent_pos_config:
-  follow_left_ee_cartesian_pos: 3
-  follow_left_ee_rotation: 3
-  follow_left_gripper: 1
   follow_right_ee_cartesian_pos: 3
   follow_right_ee_rotation: 3
   follow_right_gripper: 1
-  head_actions: 2
-  height: 1
-  car_pose: 3
 
-norm_stats_path: "wall-x/workspace/lerobot_example/libero/libero_norm_stats.json"
+norm_stats_path: "/path/to/libero_norm_stats.json"
 
 enable_customized_robot_config: true
 customized_robot_config:
-  name: "physical-intelligence/libero"
+  name: "libero_all"
   customized_dof_config:
     "panda_action_eef_with_gripper": 7
 
   customized_agent_pos_config:
-    "panda_state_eef_with_gripper": 8
+    "panda_state_eef_with_gripper": 7
 
 # Checkpoint resuming configuration
 # resume:
@@ -75,7 +63,7 @@ data:
 
   # LeRobot dataset configuration
   lerobot_config:
-    repo_id: "physical-intelligence/libero"
+    repo_id: "libero_all"
     root: null
     episodes: null
     image_transforms: null
@@ -86,31 +74,19 @@ data:
     download_videos: true
     video_backend: null
 
-  action_horizon: 32
+  action_horizon: 10
   train_test_split: 0.95
 
   # Action keys for observation and prediction
   obs_action_keys:
-    - follow_left_ee_cartesian_pos
-    - follow_left_ee_rotation
-    - follow_left_gripper
     - follow_right_ee_cartesian_pos
     - follow_right_ee_rotation
     - follow_right_gripper
-    - head_actions
-    - height
-    - car_pose
 
   predict_action_keys:
-    - follow_left_ee_cartesian_pos
-    - follow_left_ee_rotation
-    - follow_left_gripper
-    - follow_right_ee_cartesian_pos
-    - follow_right_ee_rotation
-    - follow_right_gripper
-    - head_actions
-    - height
-    - car_pose
+    - master_right_ee_cartesian_pos
+    - master_right_ee_rotation
+    - master_right_gripper
 
   # Image resolution configuration for different camera views
   resolution: