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posttrain_0903
File size: 3,905 Bytes
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{
  "processor_class": "Gr00tN1d7Processor",
  "processor_kwargs": {
    "modality_configs": {
      "g1_heft": {
        "video": {
          "delta_indices": [
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          ],
          "modality_keys": [
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            "left_wrist",
            "right_wrist"
          ],
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          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "state": {
          "delta_indices": [
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          ],
          "modality_keys": [
            "joint_position",
            "joint_velocity",
            "projected_gravity",
            "root_angular_velocity",
            "head_joint_position",
            "gripper_position"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "action": {
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          ],
          "modality_keys": [
            "reference_joint_position",
            "root_delta_xy",
            "root_height",
            "root_delta_rotation6d",
            "left_gripper",
            "right_gripper",
            "head_joint_position"
          ],
          "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",
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              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
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              "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": {
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          ],
          "modality_keys": [
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          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
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        }
      }
    },
    "image_crop_size": null,
    "image_target_size": null,
    "use_albumentations": true,
    "random_rotation_angle": null,
    "color_jitter_params": null,
    "shortest_image_edge": 256,
    "crop_fraction": 1.0,
    "letter_box_transform": true,
    "model_name": "/mnt/data/nieshen/models/Cosmos-Reason2-2B",
    "model_type": "qwen",
    "formalize_language": true,
    "max_state_dim": 68,
    "max_action_dim": 42,
    "max_action_horizon": 30,
    "use_percentiles": true,
    "use_mean_std": false,
    "clip_outliers": true,
    "apply_sincos_state_encoding": false,
    "use_relative_action": false,
    "exclude_state": false,
    "state_dropout_prob": 0.2
  }
}