Gom-sy/ICRA-S
018
1{2 "processor_class": "Gr00tN1d6Processor",3 "processor_kwargs": {4 "modality_configs": {5 "behavior_r1_pro": {6 "video": {7 "delta_indices": [8 09 ],10 "modality_keys": [11 "observation.images.rgb.head_256_256",12 "observation.images.rgb.left_wrist_256_256",13 "observation.images.rgb.right_wrist_256_256"14 ],15 "sin_cos_embedding_keys": null,16 "mean_std_embedding_keys": null,17 "mulaw_keys": null,18 "binary_keys": null,19 "action_configs": null20 },21 "state": {22 "delta_indices": [23 024 ],25 "modality_keys": [26 "robot_pos",27 "robot_ori_cos",28 "robot_ori_sin",29 "robot_2d_ori",30 "robot_2d_ori_cos",31 "robot_2d_ori_sin",32 "robot_lin_vel",33 "robot_ang_vel",34 "arm_left_qpos",35 "arm_left_qpos_sin",36 "arm_left_qpos_cos",37 "eef_left_pos",38 "eef_left_quat",39 "gripper_left_qpos",40 "arm_right_qpos",41 "arm_right_qpos_sin",42 "arm_right_qpos_cos",43 "eef_right_pos",44 "eef_right_quat",45 "gripper_right_qpos",46 "trunk_qpos"47 ],48 "sin_cos_embedding_keys": null,49 "mean_std_embedding_keys": null,50 "mulaw_keys": null,51 "binary_keys": null,52 "action_configs": null53 },54 "action": {55 "delta_indices": [56 0,57 1,58 2,59 3,60 4,61 5,62 6,63 7,64 8,65 9,66 10,67 11,68 12,69 13,70 14,71 15,72 16,73 17,74 18,75 19,76 20,77 21,78 22,79 23,80 24,81 25,82 26,83 27,84 28,85 29,86 30,87 3188 ],89 "modality_keys": [90 "base",91 "torso",92 "left_arm",93 "left_gripper",94 "right_arm",95 "right_gripper"96 ],97 "sin_cos_embedding_keys": null,98 "mean_std_embedding_keys": null,99 "mulaw_keys": null,100 "binary_keys": null,101 "action_configs": [102 {103 "rep": "ABSOLUTE",104 "type": "NON_EEF",105 "format": "DEFAULT",106 "state_key": null107 },108 {109 "rep": "RELATIVE",110 "type": "NON_EEF",111 "format": "DEFAULT",112 "state_key": "trunk_qpos"113 },114 {115 "rep": "RELATIVE",116 "type": "NON_EEF",117 "format": "DEFAULT",118 "state_key": "arm_left_qpos"119 },120 {121 "rep": "ABSOLUTE",122 "type": "NON_EEF",123 "format": "DEFAULT",124 "state_key": null125 },126 {127 "rep": "RELATIVE",128 "type": "NON_EEF",129 "format": "DEFAULT",130 "state_key": "arm_right_qpos"131 },132 {133 "rep": "ABSOLUTE",134 "type": "NON_EEF",135 "format": "DEFAULT",136 "state_key": null137 }138 ]139 },140 "language": {141 "delta_indices": [142 0143 ],144 "modality_keys": [145 "annotation.human.coarse_action"146 ],147 "sin_cos_embedding_keys": null,148 "mean_std_embedding_keys": null,149 "mulaw_keys": null,150 "binary_keys": null,151 "action_configs": null152 }153 },154 "gr1": {155 "video": {156 "delta_indices": [157 0158 ],159 "modality_keys": [160 "ego_view_bg_crop_pad_res256_freq20"161 ],162 "sin_cos_embedding_keys": null,163 "mean_std_embedding_keys": null,164 "mulaw_keys": null,165 "binary_keys": null,166 "action_configs": null167 },168 "state": {169 "delta_indices": [170 0171 ],172 "modality_keys": [173 "left_arm",174 "right_arm",175 "left_hand",176 "right_hand",177 "waist"178 ],179 "sin_cos_embedding_keys": [180 "left_arm",181 "right_arm",182 "left_hand",183 "right_hand",184 "waist"185 ],186 "mean_std_embedding_keys": null,187 "mulaw_keys": null,188 "binary_keys": null,189 "action_configs": null190 },191 "action": {192 "delta_indices": [193 0,194 1,195 2,196 3,197 4,198 5,199 6,200 7,201 8,202 9,203 10,204 11,205 12,206 13,207 14,208 15209 ],210 "modality_keys": [211 "left_arm",212 "right_arm",213 "left_hand",214 "right_hand",215 "waist"216 ],217 "sin_cos_embedding_keys": null,218 "mean_std_embedding_keys": null,219 "mulaw_keys": null,220 "binary_keys": null,221 "action_configs": [222 {223 "rep": "RELATIVE",224 "type": "NON_EEF",225 "format": "DEFAULT",226 "state_key": null227 },228 {229 "rep": "RELATIVE",230 "type": "NON_EEF",231 "format": "DEFAULT",232 "state_key": null233 },234 {235 "rep": "RELATIVE",236 "type": "NON_EEF",237 "format": "DEFAULT",238 "state_key": null239 },240 {241 "rep": "RELATIVE",242 "type": "NON_EEF",243 "format": "DEFAULT",244 "state_key": null245 },246 {247 "rep": "ABSOLUTE",248 "type": "NON_EEF",249 "format": "DEFAULT",250 "state_key": null251 }252 ]253 },254 "language": {255 "delta_indices": [256 0257 ],258 "modality_keys": [259 "task"260 ],261 "sin_cos_embedding_keys": null,262 "mean_std_embedding_keys": null,263 "mulaw_keys": null,264 "binary_keys": null,265 "action_configs": null266 }267 },268 "robocasa_panda_omron": {269 "video": {270 "delta_indices": [271 0272 ],273 "modality_keys": [274 "res256_image_side_0",275 "res256_image_side_1",276 "res256_image_wrist_0"277 ],278 "sin_cos_embedding_keys": null,279 "mean_std_embedding_keys": null,280 "mulaw_keys": null,281 "binary_keys": null,282 "action_configs": null283 },284 "state": {285 "delta_indices": [286 0287 ],288 "modality_keys": [289 "end_effector_position_relative",290 "end_effector_rotation_relative",291 "gripper_qpos",292 "base_position",293 "base_rotation"294 ],295 "sin_cos_embedding_keys": null,296 "mean_std_embedding_keys": null,297 "mulaw_keys": null,298 "binary_keys": null,299 "action_configs": null300 },301 "action": {302 "delta_indices": [303 0,304 1,305 2,306 3,307 4,308 5,309 6,310 7,311 8,312 9,313 10,314 11,315 12,316 13,317 14,318 15319 ],320 "modality_keys": [321 "end_effector_position",322 "end_effector_rotation",323 "gripper_close",324 "base_motion",325 "control_mode"326 ],327 "sin_cos_embedding_keys": null,328 "mean_std_embedding_keys": null,329 "mulaw_keys": null,330 "binary_keys": null,331 "action_configs": [332 {333 "rep": "ABSOLUTE",334 "type": "NON_EEF",335 "format": "DEFAULT",336 "state_key": null337 },338 {339 "rep": "ABSOLUTE",340 "type": "NON_EEF",341 "format": "DEFAULT",342 "state_key": null343 },344 {345 "rep": "ABSOLUTE",346 "type": "NON_EEF",347 "format": "DEFAULT",348 "state_key": null349 },350 {351 "rep": "ABSOLUTE",352 "type": "NON_EEF",353 "format": "DEFAULT",354 "state_key": null355 },356 {357 "rep": "ABSOLUTE",358 "type": "NON_EEF",359 "format": "DEFAULT",360 "state_key": null361 }362 ]363 },364 "language": {365 "delta_indices": [366 0367 ],368 "modality_keys": [369 "annotation.human.action.task_description"370 ],371 "sin_cos_embedding_keys": null,372 "mean_std_embedding_keys": null,373 "mulaw_keys": null,374 "binary_keys": null,375 "action_configs": null376 }377 },378 "new_embodiment": {379 "video": {380 "delta_indices": [381 0382 ],383 "modality_keys": [384 "gripper",385 "head"386 ],387 "sin_cos_embedding_keys": null,388 "mean_std_embedding_keys": null,389 "mulaw_keys": null,390 "binary_keys": null,391 "action_configs": null392 },393 "state": {394 "delta_indices": [395 0396 ],397 "modality_keys": [398 "lift",399 "arm",400 "wrist",401 "gripper"402 ],403 "sin_cos_embedding_keys": null,404 "mean_std_embedding_keys": null,405 "mulaw_keys": null,406 "binary_keys": null,407 "action_configs": null408 },409 "action": {410 "delta_indices": [411 0,412 1,413 2,414 3,415 4,416 5,417 6,418 7,419 8,420 9,421 10,422 11,423 12,424 13,425 14,426 15427 ],428 "modality_keys": [429 "lift",430 "arm",431 "wrist",432 "gripper"433 ],434 "sin_cos_embedding_keys": null,435 "mean_std_embedding_keys": null,436 "mulaw_keys": [437 "wrist",438 "gripper"439 ],440 "binary_keys": [],441 "action_configs": [442 {443 "rep": "RELATIVE",444 "type": "NON_EEF",445 "format": "DEFAULT",446 "state_key": null447 },448 {449 "rep": "RELATIVE",450 "type": "NON_EEF",451 "format": "DEFAULT",452 "state_key": null453 },454 {455 "rep": "RELATIVE",456 "type": "NON_EEF",457 "format": "DEFAULT",458 "state_key": null459 },460 {461 "rep": "RELATIVE",462 "type": "NON_EEF",463 "format": "DEFAULT",464 "state_key": null465 }466 ]467 },468 "language": {469 "delta_indices": [470 0471 ],472 "modality_keys": [473 "annotation.human.task_description"474 ],475 "sin_cos_embedding_keys": null,476 "mean_std_embedding_keys": null,477 "mulaw_keys": null,478 "binary_keys": null,479 "action_configs": null480 }481 }482 },483 "image_crop_size": [484 320,485 320486 ],487 "image_target_size": [488 320,489 320490 ],491 "use_albumentations": false,492 "random_rotation_angle": null,493 "color_jitter_params": {494 "brightness": 0.3,495 "contrast": 0.4,496 "saturation": 0.5,497 "hue": 0.08498 },499 "shortest_image_edge": 256,500 "crop_fraction": 0.95,501 "model_name": "nvidia/Eagle-Block2A-2B-v2",502 "model_type": "eagle",503 "formalize_language": true,504 "max_state_dim": 128,505 "max_action_dim": 128,506 "max_action_horizon": 50,507 "use_percentiles": false,508 "clip_outliers": true,509 "apply_sincos_state_encoding": true,510 "use_relative_action": true,511 "mu_scale": 3.0512 }513}