openarm_big_usb_40 / processor /processor_config.json
HeewonLee7's picture
Upload folder using huggingface_hub
ffd27e2 verified
{
"processor_class": "AlinVLAv0Processor",
"processor_kwargs": {
"modality_configs": {
"humanoid_everyday_g1": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"egocentric_resized"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"left_arm",
"left_hand",
"right_arm",
"right_hand"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"left_arm",
"left_hand",
"right_arm",
"right_hand"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"kuka": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"cmu_stretch": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"stanford_hydra_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"berkeley_fanuc_manipulation": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"viola": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"galaxea": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist_left",
"wrist_right"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"state"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"action"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"utaustin_mutex": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"dobbe": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"taco_play": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"humanoid_everyday_h1": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"egocentric_resized"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"left_arm",
"left_hand",
"right_arm",
"right_hand"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"left_arm",
"left_hand",
"right_arm",
"right_hand"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"berkeley_autolab_ur5": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"jaco_play": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"furniture_bench_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"berkeley_cable_routing": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"secondary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"nyu_franka_play_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"secondary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"bridge_orig": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"secondary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"droid": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"secondary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"agibot_gripper": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist_left",
"wrist_right"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"state"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"action"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"simulation_gr1": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"ego_view"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"left_arm",
"left_hand",
"left_leg",
"neck",
"right_arm",
"right_hand",
"right_leg",
"waist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"left_arm",
"left_hand",
"left_leg",
"neck",
"right_arm",
"right_hand",
"right_leg",
"waist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"austin_sirius_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"austin_sailor_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"language_table": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"ucsd_kitchen_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"dlr_edan_shared_control_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"bc_z": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"austin_buds_dataset_converted_externally_to_rlds": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"agibot_dexhand": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"state"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"action"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"fractal20220817_data": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"neural_gr1": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"ego_view"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"left_arm",
"left_hand",
"left_leg",
"neck",
"right_arm",
"right_hand",
"right_leg",
"waist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"left_arm",
"left_hand",
"left_leg",
"neck",
"right_arm",
"right_hand",
"right_leg",
"waist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"roboturk": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"none"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"fmb_dataset": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary",
"secondary",
"wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"toto": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"joint_position",
"gripper_position"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"end_effector_position",
"end_effector_rotation",
"gripper_close"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "DELTA",
"type": "EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"action_net": {
"video": {
"delta_indices": [
-6,
-4,
-2,
0
],
"modality_keys": [
"primary"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
0
],
"modality_keys": [
"state"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
],
"modality_keys": [
"action"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.action.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
},
"new_embodiment": {
"video": {
"delta_indices": [
-9,
-7,
-5,
-3,
-8,
-6,
-4,
-2,
-7,
-5,
-3,
-1,
-6,
-4,
-2,
0
],
"modality_keys": [
"camera_ego_left",
"camera_ego_right"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
"delta_indices": [
-3,
-2,
-1,
0
],
"modality_keys": [
"right_arm_joints",
"left_arm_joints",
"right_hand_joints",
"left_hand_joints",
"neck_joints"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"action": {
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39
],
"modality_keys": [
"right_arm_joints",
"left_arm_joints",
"right_hand_joints",
"left_hand_joints",
"neck_joints"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": [
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
]
},
"language": {
"delta_indices": [
0
],
"modality_keys": [
"annotation.human.task_description"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
}
}
},
"image_crop_size": null,
"image_target_size": null,
"use_albumentations": true,
"random_rotation_angle": null,
"color_jitter_params": {
"brightness": 0.3,
"contrast": 0.4,
"hue": 0.08,
"saturation": 0.5
},
"shortest_image_edge": null,
"crop_fraction": 0.95,
"max_area": 65536,
"resize_m": 32,
"model_name": "huiwon/alinvlm_v1_3",
"model_type": "contextvla_qwen3_vl_legacy",
"formalize_language": true,
"max_state_dim": 64,
"max_action_dim": 64,
"max_action_horizon": 40,
"use_percentiles": true,
"clip_outliers": true,
"apply_sincos_state_encoding": false,
"use_relative_action": true,
"memory_length": 1,
"new_embodiment_train_ratio": 0
}
}