arvla-bridge / processor_config.json
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Duplicate from you2who/paligemma-arvla-bridge
2672775
{
"processor_class": "VLARMHFProcessor",
"base_processor_model_id": "google/paligemma-3b-mix-224",
"vlarm_processor_config": {
"control_io_config": {
"future_controls_sequence_length": 5,
"future_controls_sequence_stride_sec": 0.2,
"future_frames_sequence_length": 1,
"future_frames_sequence_stride_sec": null,
"future_control_offset_sec": 0.0,
"past_scalars_sequence_length": 1,
"past_frames_sequence_length": 1,
"past_scalars_stride_sec": null,
"past_frames_stride_sec": null,
"sequence_frames": 1,
"sequence_frames_stride_sec": null
},
"obs_translation_norm": "bounds_q99",
"obs_rotation_norm": "none",
"translation_norm": {
"high": [
0.04,
0.04,
0.04
],
"low": [
-0.04,
-0.04,
-0.04
]
},
"rotation_norm": "none",
"joints_norm": {
"high": [
3.141592653589793,
3.141592653589793,
3.141592653589793,
3.141592653589793,
3.141592653589793,
3.141592653589793,
3.141592653589793
],
"low": [
-3.141592653589793,
-3.141592653589793,
-3.141592653589793,
-3.141592653589793,
-3.141592653589793,
-3.141592653589793,
-3.141592653589793
]
},
"rotation_format": "quaternion",
"eef_control_frame": false,
"delta_controls": true,
"image_resize": "naive",
"max_language_tokens": 75,
"control_tokenizer_config": {},
"control_stats_path": "/home/yutong/experiments/vlams/vlarm/sess_2025_11_14_11_29_01_msp3-3_yutong_hu_fast_vl+pt_ar.6/hf_export/hare-determined-crimson-transformers/stats/control_stats.yaml",
"observation_stats_path": "/home/yutong/experiments/vlams/vlarm/sess_2025_11_14_11_29_01_msp3-3_yutong_hu_fast_vl+pt_ar.6/hf_export/hare-determined-crimson-transformers/stats/observation_stats.yaml"
},
"vlm_processor_config": {
"image_token": "<image>",
"image_sizes": {
"main": {
"width": 224,
"height": 224
}
}
},
"auto_map": {
"AutoProcessor": "processing_vlarm_hf.VLARMHFProcessor"
}
}