No robot_config
Browse files- config.json +1 -101
config.json
CHANGED
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@@ -74,105 +74,5 @@
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"num_expert_layers": 0,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75
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"robot_config": {
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"robot_type": "so101_follower",
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"codebase_version": "v2.1",
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"total_episodes": 86,
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"total_frames": 23660,
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"total_tasks": 1,
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"total_videos": 172,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:86"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"action_names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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],
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"camera_views": ["wrist", "top"],
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [6],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [6],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [1],
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [1],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [1],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [1],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [1],
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"names": null
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},
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"observation.images.wrist": {
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"dtype": "video",
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"shape": [480, 640, 3],
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"names": ["height", "width", "channels"],
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"info": {
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"video.fps": 30,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.top": {
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"dtype": "video",
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"shape": [480, 640, 3],
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"names": ["height", "width", "channels"],
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"info": {
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"video.fps": 30,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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}
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}
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}
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}
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"num_expert_layers": 0,
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"num_vlm_layers": 16,
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"self_attn_every_n_layers": 2,
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"expert_width_multiplier": 0.75
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}
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