posttrain_0903 / g1_heft_groot_potnollm /processor_config.json
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{
"processor_class": "Gr00tN1d7Processor",
"processor_kwargs": {
"modality_configs": {
"g1_heft": {
"video": {
"delta_indices": [
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],
"modality_keys": [
"ego_view",
"left_wrist",
"right_wrist"
],
"sin_cos_embedding_keys": null,
"mean_std_embedding_keys": null,
"action_configs": null
},
"state": {
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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",
"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": [
"task"
],
"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": 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
}
}