processor_config.json
| 1 | { |
| 2 | "processor_class": "Gr00tN1d7Processor", |
| 3 | "processor_kwargs": { |
| 4 | "modality_configs": { |
| 5 | "real_g1_relative_eef_relative_joints": { |
| 6 | "video": { |
| 7 | "delta_indices": [ |
| 8 | -20, |
| 9 | 0 |
| 10 | ], |
| 11 | "modality_keys": [ |
| 12 | "ego_view" |
| 13 | ] |
| 14 | }, |
| 15 | "state": { |
| 16 | "delta_indices": [ |
| 17 | 0 |
| 18 | ], |
| 19 | "modality_keys": [ |
| 20 | "left_wrist_eef_9d", |
| 21 | "right_wrist_eef_9d", |
| 22 | "left_hand", |
| 23 | "right_hand", |
| 24 | "left_arm", |
| 25 | "right_arm", |
| 26 | "waist" |
| 27 | ] |
| 28 | }, |
| 29 | "action": { |
| 30 | "delta_indices": [ |
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| 70 | 39 |
| 71 | ], |
| 72 | "modality_keys": [ |
| 73 | "left_wrist_eef_9d", |
| 74 | "right_wrist_eef_9d", |
| 75 | "left_hand", |
| 76 | "right_hand", |
| 77 | "left_arm", |
| 78 | "right_arm", |
| 79 | "waist", |
| 80 | "base_height_command", |
| 81 | "navigate_command" |
| 82 | ], |
| 83 | "action_configs": [ |
| 84 | { |
| 85 | "rep": "RELATIVE", |
| 86 | "type": "EEF", |
| 87 | "format": "XYZ_ROT6D", |
| 88 | "state_key": "left_wrist_eef_9d" |
| 89 | }, |
| 90 | { |
| 91 | "rep": "RELATIVE", |
| 92 | "type": "EEF", |
| 93 | "format": "XYZ_ROT6D", |
| 94 | "state_key": "right_wrist_eef_9d" |
| 95 | }, |
| 96 | { |
| 97 | "rep": "ABSOLUTE", |
| 98 | "type": "NON_EEF", |
| 99 | "format": "DEFAULT", |
| 100 | "state_key": "left_hand" |
| 101 | }, |
| 102 | { |
| 103 | "rep": "ABSOLUTE", |
| 104 | "type": "NON_EEF", |
| 105 | "format": "DEFAULT", |
| 106 | "state_key": "right_hand" |
| 107 | }, |
| 108 | { |
| 109 | "rep": "RELATIVE", |
| 110 | "type": "NON_EEF", |
| 111 | "format": "DEFAULT", |
| 112 | "state_key": "left_arm" |
| 113 | }, |
| 114 | { |
| 115 | "rep": "RELATIVE", |
| 116 | "type": "NON_EEF", |
| 117 | "format": "DEFAULT", |
| 118 | "state_key": "right_arm" |
| 119 | }, |
| 120 | { |
| 121 | "rep": "ABSOLUTE", |
| 122 | "type": "NON_EEF", |
| 123 | "format": "DEFAULT", |
| 124 | "state_key": "waist" |
| 125 | }, |
| 126 | { |
| 127 | "rep": "ABSOLUTE", |
| 128 | "type": "NON_EEF", |
| 129 | "format": "DEFAULT", |
| 130 | "state_key": "base_height_command" |
| 131 | }, |
| 132 | { |
| 133 | "rep": "ABSOLUTE", |
| 134 | "type": "NON_EEF", |
| 135 | "format": "DEFAULT", |
| 136 | "state_key": "navigate_command" |
| 137 | } |
| 138 | ] |
| 139 | }, |
| 140 | "language": { |
| 141 | "delta_indices": [ |
| 142 | 0 |
| 143 | ], |
| 144 | "modality_keys": [ |
| 145 | "annotation.human.task_description" |
| 146 | ] |
| 147 | } |
| 148 | }, |
| 149 | "real_r1_pro_sharpa_relative_eef_mecka": { |
| 150 | "video": { |
| 151 | "delta_indices": [ |
| 152 | -30, |
| 153 | 0 |
| 154 | ], |
| 155 | "modality_keys": [ |
| 156 | "ego_view_cropratio_res320x240_freq30" |
| 157 | ] |
| 158 | }, |
| 159 | "state": { |
| 160 | "delta_indices": [ |
| 161 | 0 |
| 162 | ], |
| 163 | "modality_keys": [ |
| 164 | "left_wrist_eef", |
| 165 | "right_wrist_eef", |
| 166 | "left_hand_joints", |
| 167 | "right_hand_joints" |
| 168 | ] |
| 169 | }, |
| 170 | "action": { |
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| 211 | 39 |
| 212 | ], |
| 213 | "modality_keys": [ |
| 214 | "left_wrist_eef", |
| 215 | "right_wrist_eef", |
| 216 | "left_hand_joints", |
| 217 | "right_hand_joints" |
| 218 | ], |
| 219 | "action_configs": [ |
| 220 | { |
| 221 | "rep": "RELATIVE", |
| 222 | "type": "EEF", |
| 223 | "format": "XYZ_ROT6D", |
| 224 | "state_key": "left_wrist_eef" |
| 225 | }, |
| 226 | { |
| 227 | "rep": "RELATIVE", |
| 228 | "type": "EEF", |
| 229 | "format": "XYZ_ROT6D", |
| 230 | "state_key": "right_wrist_eef" |
| 231 | }, |
| 232 | { |
| 233 | "rep": "ABSOLUTE", |
| 234 | "type": "NON_EEF", |
| 235 | "format": "DEFAULT", |
| 236 | "state_key": "left_hand_joints" |
| 237 | }, |
| 238 | { |
| 239 | "rep": "ABSOLUTE", |
| 240 | "type": "NON_EEF", |
| 241 | "format": "DEFAULT", |
| 242 | "state_key": "right_hand_joints" |
| 243 | } |
| 244 | ] |
| 245 | }, |
| 246 | "language": { |
| 247 | "delta_indices": [ |
| 248 | 0 |
| 249 | ], |
| 250 | "modality_keys": [ |
| 251 | "annotation.human.coarse_action" |
| 252 | ] |
| 253 | } |
| 254 | }, |
| 255 | "real_r1_pro_sharpa_relative_eef_human": { |
| 256 | "video": { |
| 257 | "delta_indices": [ |
| 258 | -20, |
| 259 | 0 |
| 260 | ], |
| 261 | "modality_keys": [ |
| 262 | "ego_view_res320x240_freq20", |
| 263 | "left_wrist_view_res320x240_freq20", |
| 264 | "right_wrist_view_res320x240_freq20" |
| 265 | ] |
| 266 | }, |
| 267 | "state": { |
| 268 | "delta_indices": [ |
| 269 | 0 |
| 270 | ], |
| 271 | "modality_keys": [ |
| 272 | "left_wrist_eef", |
| 273 | "right_wrist_eef", |
| 274 | "left_hand_joints", |
| 275 | "right_hand_joints" |
| 276 | ] |
| 277 | }, |
| 278 | "action": { |
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| 320 | ], |
| 321 | "modality_keys": [ |
| 322 | "left_wrist_eef", |
| 323 | "right_wrist_eef", |
| 324 | "left_hand_joints", |
| 325 | "right_hand_joints" |
| 326 | ], |
| 327 | "action_configs": [ |
| 328 | { |
| 329 | "rep": "RELATIVE", |
| 330 | "type": "EEF", |
| 331 | "format": "XYZ_ROT6D", |
| 332 | "state_key": "left_wrist_eef" |
| 333 | }, |
| 334 | { |
| 335 | "rep": "RELATIVE", |
| 336 | "type": "EEF", |
| 337 | "format": "XYZ_ROT6D", |
| 338 | "state_key": "right_wrist_eef" |
| 339 | }, |
| 340 | { |
| 341 | "rep": "ABSOLUTE", |
| 342 | "type": "NON_EEF", |
| 343 | "format": "DEFAULT", |
| 344 | "state_key": "left_hand_joints" |
| 345 | }, |
| 346 | { |
| 347 | "rep": "ABSOLUTE", |
| 348 | "type": "NON_EEF", |
| 349 | "format": "DEFAULT", |
| 350 | "state_key": "right_hand_joints" |
| 351 | } |
| 352 | ] |
| 353 | }, |
| 354 | "language": { |
| 355 | "delta_indices": [ |
| 356 | 0 |
| 357 | ], |
| 358 | "modality_keys": [ |
| 359 | "annotation.human.coarse_action" |
| 360 | ] |
| 361 | } |
| 362 | }, |
| 363 | "real_r1_pro_sharpa_relative_eef": { |
| 364 | "video": { |
| 365 | "delta_indices": [ |
| 366 | -20, |
| 367 | 0 |
| 368 | ], |
| 369 | "modality_keys": [ |
| 370 | "ego_view_res320x240_freq20", |
| 371 | "left_wrist_view_res320x240_freq20", |
| 372 | "right_wrist_view_res320x240_freq20" |
| 373 | ] |
| 374 | }, |
| 375 | "state": { |
| 376 | "delta_indices": [ |
| 377 | 0 |
| 378 | ], |
| 379 | "modality_keys": [ |
| 380 | "left_wrist_eef", |
| 381 | "right_wrist_eef", |
| 382 | "left_hand_joints", |
| 383 | "right_hand_joints" |
| 384 | ] |
| 385 | }, |
| 386 | "action": { |
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| 428 | ], |
| 429 | "modality_keys": [ |
| 430 | "left_wrist_eef", |
| 431 | "right_wrist_eef", |
| 432 | "left_hand_joints", |
| 433 | "right_hand_joints" |
| 434 | ], |
| 435 | "action_configs": [ |
| 436 | { |
| 437 | "rep": "RELATIVE", |
| 438 | "type": "EEF", |
| 439 | "format": "XYZ_ROT6D", |
| 440 | "state_key": "left_wrist_eef" |
| 441 | }, |
| 442 | { |
| 443 | "rep": "RELATIVE", |
| 444 | "type": "EEF", |
| 445 | "format": "XYZ_ROT6D", |
| 446 | "state_key": "right_wrist_eef" |
| 447 | }, |
| 448 | { |
| 449 | "rep": "ABSOLUTE", |
| 450 | "type": "NON_EEF", |
| 451 | "format": "DEFAULT", |
| 452 | "state_key": "left_hand_joints" |
| 453 | }, |
| 454 | { |
| 455 | "rep": "ABSOLUTE", |
| 456 | "type": "NON_EEF", |
| 457 | "format": "DEFAULT", |
| 458 | "state_key": "right_hand_joints" |
| 459 | } |
| 460 | ] |
| 461 | }, |
| 462 | "language": { |
| 463 | "delta_indices": [ |
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| 465 | ], |
| 466 | "modality_keys": [ |
| 467 | "annotation.human.coarse_action" |
| 468 | ] |
| 469 | } |
| 470 | }, |
| 471 | "xdof_relative_eef_relative_joint": { |
| 472 | "video": { |
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| 476 | ], |
| 477 | "modality_keys": [ |
| 478 | "top_camera-images-rgb_320_240", |
| 479 | "left_camera-images-rgb_320_240", |
| 480 | "right_camera-images-rgb_320_240" |
| 481 | ] |
| 482 | }, |
| 483 | "state": { |
| 484 | "delta_indices": [ |
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| 486 | ], |
| 487 | "modality_keys": [ |
| 488 | "left_wrist_eef", |
| 489 | "right_wrist_eef", |
| 490 | "left_gripper_pos", |
| 491 | "right_gripper_pos", |
| 492 | "left_joint_pos", |
| 493 | "right_joint_pos" |
| 494 | ] |
| 495 | }, |
| 496 | "action": { |
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| 538 | ], |
| 539 | "modality_keys": [ |
| 540 | "left_wrist_eef", |
| 541 | "right_wrist_eef", |
| 542 | "left_gripper_pos", |
| 543 | "right_gripper_pos", |
| 544 | "left_joint_pos", |
| 545 | "right_joint_pos" |
| 546 | ], |
| 547 | "action_configs": [ |
| 548 | { |
| 549 | "rep": "RELATIVE", |
| 550 | "type": "EEF", |
| 551 | "format": "XYZ_ROT6D", |
| 552 | "state_key": "left_wrist_eef" |
| 553 | }, |
| 554 | { |
| 555 | "rep": "RELATIVE", |
| 556 | "type": "EEF", |
| 557 | "format": "XYZ_ROT6D", |
| 558 | "state_key": "right_wrist_eef" |
| 559 | }, |
| 560 | { |
| 561 | "rep": "ABSOLUTE", |
| 562 | "type": "NON_EEF", |
| 563 | "format": "DEFAULT", |
| 564 | "state_key": "left_gripper_pos" |
| 565 | }, |
| 566 | { |
| 567 | "rep": "ABSOLUTE", |
| 568 | "type": "NON_EEF", |
| 569 | "format": "DEFAULT", |
| 570 | "state_key": "right_gripper_pos" |
| 571 | }, |
| 572 | { |
| 573 | "rep": "RELATIVE", |
| 574 | "type": "NON_EEF", |
| 575 | "format": "DEFAULT", |
| 576 | "state_key": "left_joint_pos" |
| 577 | }, |
| 578 | { |
| 579 | "rep": "RELATIVE", |
| 580 | "type": "NON_EEF", |
| 581 | "format": "DEFAULT", |
| 582 | "state_key": "right_joint_pos" |
| 583 | } |
| 584 | ] |
| 585 | }, |
| 586 | "language": { |
| 587 | "delta_indices": [ |
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| 589 | ], |
| 590 | "modality_keys": [ |
| 591 | "annotation.task" |
| 592 | ] |
| 593 | } |
| 594 | }, |
| 595 | "real_r1_pro_sharpa_relative_eef_maxinsights": { |
| 596 | "video": { |
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| 600 | ], |
| 601 | "modality_keys": [ |
| 602 | "ego_view_cropratio_res320x240_freq30" |
| 603 | ] |
| 604 | }, |
| 605 | "state": { |
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| 608 | ], |
| 609 | "modality_keys": [ |
| 610 | "left_wrist_eef", |
| 611 | "right_wrist_eef", |
| 612 | "left_hand_joints", |
| 613 | "right_hand_joints" |
| 614 | ] |
| 615 | }, |
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| 660 | "left_wrist_eef", |
| 661 | "right_wrist_eef", |
| 662 | "left_hand_joints", |
| 663 | "right_hand_joints" |
| 664 | ], |
| 665 | "action_configs": [ |
| 666 | { |
| 667 | "rep": "RELATIVE", |
| 668 | "type": "EEF", |
| 669 | "format": "XYZ_ROT6D", |
| 670 | "state_key": "left_wrist_eef" |
| 671 | }, |
| 672 | { |
| 673 | "rep": "RELATIVE", |
| 674 | "type": "EEF", |
| 675 | "format": "XYZ_ROT6D", |
| 676 | "state_key": "right_wrist_eef" |
| 677 | }, |
| 678 | { |
| 679 | "rep": "ABSOLUTE", |
| 680 | "type": "NON_EEF", |
| 681 | "format": "DEFAULT", |
| 682 | "state_key": "left_hand_joints" |
| 683 | }, |
| 684 | { |
| 685 | "rep": "ABSOLUTE", |
| 686 | "type": "NON_EEF", |
| 687 | "format": "DEFAULT", |
| 688 | "state_key": "right_hand_joints" |
| 689 | } |
| 690 | ] |
| 691 | }, |
| 692 | "language": { |
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| 695 | ], |
| 696 | "modality_keys": [ |
| 697 | "annotation.human.coarse_action" |
| 698 | ] |
| 699 | } |
| 700 | }, |
| 701 | "xdof_relative_eef_relative_joint_subtask": { |
| 702 | "video": { |
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| 706 | ], |
| 707 | "modality_keys": [ |
| 708 | "top_camera-images-rgb_320_240", |
| 709 | "left_camera-images-rgb_320_240", |
| 710 | "right_camera-images-rgb_320_240" |
| 711 | ] |
| 712 | }, |
| 713 | "state": { |
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| 716 | ], |
| 717 | "modality_keys": [ |
| 718 | "left_wrist_eef", |
| 719 | "right_wrist_eef", |
| 720 | "left_gripper_pos", |
| 721 | "right_gripper_pos", |
| 722 | "left_joint_pos", |
| 723 | "right_joint_pos" |
| 724 | ] |
| 725 | }, |
| 726 | "action": { |
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| 768 | ], |
| 769 | "modality_keys": [ |
| 770 | "left_wrist_eef", |
| 771 | "right_wrist_eef", |
| 772 | "left_gripper_pos", |
| 773 | "right_gripper_pos", |
| 774 | "left_joint_pos", |
| 775 | "right_joint_pos" |
| 776 | ], |
| 777 | "action_configs": [ |
| 778 | { |
| 779 | "rep": "RELATIVE", |
| 780 | "type": "EEF", |
| 781 | "format": "XYZ_ROT6D", |
| 782 | "state_key": "left_wrist_eef" |
| 783 | }, |
| 784 | { |
| 785 | "rep": "RELATIVE", |
| 786 | "type": "EEF", |
| 787 | "format": "XYZ_ROT6D", |
| 788 | "state_key": "right_wrist_eef" |
| 789 | }, |
| 790 | { |
| 791 | "rep": "ABSOLUTE", |
| 792 | "type": "NON_EEF", |
| 793 | "format": "DEFAULT", |
| 794 | "state_key": "left_gripper_pos" |
| 795 | }, |
| 796 | { |
| 797 | "rep": "ABSOLUTE", |
| 798 | "type": "NON_EEF", |
| 799 | "format": "DEFAULT", |
| 800 | "state_key": "right_gripper_pos" |
| 801 | }, |
| 802 | { |
| 803 | "rep": "RELATIVE", |
| 804 | "type": "NON_EEF", |
| 805 | "format": "DEFAULT", |
| 806 | "state_key": "left_joint_pos" |
| 807 | }, |
| 808 | { |
| 809 | "rep": "RELATIVE", |
| 810 | "type": "NON_EEF", |
| 811 | "format": "DEFAULT", |
| 812 | "state_key": "right_joint_pos" |
| 813 | } |
| 814 | ] |
| 815 | }, |
| 816 | "language": { |
| 817 | "delta_indices": [ |
| 818 | 0 |
| 819 | ], |
| 820 | "modality_keys": [ |
| 821 | "annotation.sub_task" |
| 822 | ] |
| 823 | } |
| 824 | }, |
| 825 | "oxe_droid_relative_eef_relative_joint": { |
| 826 | "video": { |
| 827 | "delta_indices": [ |
| 828 | -15, |
| 829 | 0 |
| 830 | ], |
| 831 | "modality_keys": [ |
| 832 | "exterior_image_1_left", |
| 833 | "wrist_image_left" |
| 834 | ] |
| 835 | }, |
| 836 | "state": { |
| 837 | "delta_indices": [ |
| 838 | 0 |
| 839 | ], |
| 840 | "modality_keys": [ |
| 841 | "eef_9d", |
| 842 | "gripper_position", |
| 843 | "joint_position" |
| 844 | ] |
| 845 | }, |
| 846 | "action": { |
| 847 | "delta_indices": [ |
| 848 | 0, |
| 849 | 1, |
| 850 | 2, |
| 851 | 3, |
| 852 | 4, |
| 853 | 5, |
| 854 | 6, |
| 855 | 7, |
| 856 | 8, |
| 857 | 9, |
| 858 | 10, |
| 859 | 11, |
| 860 | 12, |
| 861 | 13, |
| 862 | 14, |
| 863 | 15, |
| 864 | 16, |
| 865 | 17, |
| 866 | 18, |
| 867 | 19, |
| 868 | 20, |
| 869 | 21, |
| 870 | 22, |
| 871 | 23, |
| 872 | 24, |
| 873 | 25, |
| 874 | 26, |
| 875 | 27, |
| 876 | 28, |
| 877 | 29, |
| 878 | 30, |
| 879 | 31, |
| 880 | 32, |
| 881 | 33, |
| 882 | 34, |
| 883 | 35, |
| 884 | 36, |
| 885 | 37, |
| 886 | 38, |
| 887 | 39 |
| 888 | ], |
| 889 | "modality_keys": [ |
| 890 | "eef_9d", |
| 891 | "gripper_position", |
| 892 | "joint_position" |
| 893 | ], |
| 894 | "action_configs": [ |
| 895 | { |
| 896 | "rep": "RELATIVE", |
| 897 | "type": "EEF", |
| 898 | "format": "XYZ_ROT6D", |
| 899 | "state_key": "eef_9d" |
| 900 | }, |
| 901 | { |
| 902 | "rep": "ABSOLUTE", |
| 903 | "type": "NON_EEF", |
| 904 | "format": "DEFAULT", |
| 905 | "state_key": "gripper_position" |
| 906 | }, |
| 907 | { |
| 908 | "rep": "RELATIVE", |
| 909 | "type": "NON_EEF", |
| 910 | "format": "DEFAULT", |
| 911 | "state_key": "joint_position" |
| 912 | } |
| 913 | ] |
| 914 | }, |
| 915 | "language": { |
| 916 | "delta_indices": [ |
| 917 | 0 |
| 918 | ], |
| 919 | "modality_keys": [ |
| 920 | "annotation.language.language_instruction" |
| 921 | ] |
| 922 | } |
| 923 | } |
| 924 | }, |
| 925 | "use_percentiles": true, |
| 926 | "use_mean_std": false, |
| 927 | "image_crop_size": [ |
| 928 | 230, |
| 929 | 230 |
| 930 | ], |
| 931 | "image_target_size": [ |
| 932 | 256, |
| 933 | 256 |
| 934 | ], |
| 935 | "formalize_language": true, |
| 936 | "max_state_dim": 132, |
| 937 | "max_action_dim": 132, |
| 938 | "apply_sincos_state_encoding": false, |
| 939 | "color_jitter_params": { |
| 940 | "brightness": 0.3, |
| 941 | "contrast": 0.4, |
| 942 | "saturation": 0.5, |
| 943 | "hue": 0.08 |
| 944 | }, |
| 945 | "random_rotation_angle": 0, |
| 946 | "letter_box_transform": false, |
| 947 | "exclude_state": false, |
| 948 | "state_dropout_prob": 0.2, |
| 949 | "use_albumentations": true, |
| 950 | "shortest_image_edge": 256, |
| 951 | "crop_fraction": 0.95, |
| 952 | "max_action_horizon": 40, |
| 953 | "use_relative_action": true |
| 954 | } |
| 955 | } |
| 956 | |