Pamela153 commited on
Commit
4973635
·
verified ·
1 Parent(s): d1a7c25

Upload folder using huggingface_hub

Browse files
processor/embodiment_id.json ADDED
@@ -0,0 +1,11 @@
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "robocasa_panda_omron": 13,
3
+ "gr1": 20,
4
+ "behavior_r1_pro": 24,
5
+ "unitree_g1": 8,
6
+ "oxe_google": 0,
7
+ "oxe_widowx": 1,
8
+ "libero_panda": 2,
9
+ "oxe_droid": 16,
10
+ "new_embodiment": 10
11
+ }
processor/processor_config.json ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "processor_class": "Gr00tN1d6Processor",
3
+ "processor_kwargs": {
4
+ "modality_configs": {
5
+ "behavior_r1_pro": {
6
+ "video": {
7
+ "delta_indices": [
8
+ 0
9
+ ],
10
+ "modality_keys": [
11
+ "observation.images.rgb.head_256_256",
12
+ "observation.images.rgb.left_wrist_256_256",
13
+ "observation.images.rgb.right_wrist_256_256"
14
+ ],
15
+ "sin_cos_embedding_keys": null,
16
+ "mean_std_embedding_keys": null,
17
+ "action_configs": null
18
+ },
19
+ "state": {
20
+ "delta_indices": [
21
+ 0
22
+ ],
23
+ "modality_keys": [
24
+ "robot_pos",
25
+ "robot_ori_cos",
26
+ "robot_ori_sin",
27
+ "robot_2d_ori",
28
+ "robot_2d_ori_cos",
29
+ "robot_2d_ori_sin",
30
+ "robot_lin_vel",
31
+ "robot_ang_vel",
32
+ "arm_left_qpos",
33
+ "arm_left_qpos_sin",
34
+ "arm_left_qpos_cos",
35
+ "eef_left_pos",
36
+ "eef_left_quat",
37
+ "gripper_left_qpos",
38
+ "arm_right_qpos",
39
+ "arm_right_qpos_sin",
40
+ "arm_right_qpos_cos",
41
+ "eef_right_pos",
42
+ "eef_right_quat",
43
+ "gripper_right_qpos",
44
+ "trunk_qpos"
45
+ ],
46
+ "sin_cos_embedding_keys": null,
47
+ "mean_std_embedding_keys": null,
48
+ "action_configs": null
49
+ },
50
+ "action": {
51
+ "delta_indices": [
52
+ 0,
53
+ 1,
54
+ 2,
55
+ 3,
56
+ 4,
57
+ 5,
58
+ 6,
59
+ 7,
60
+ 8,
61
+ 9,
62
+ 10,
63
+ 11,
64
+ 12,
65
+ 13,
66
+ 14,
67
+ 15,
68
+ 16,
69
+ 17,
70
+ 18,
71
+ 19,
72
+ 20,
73
+ 21,
74
+ 22,
75
+ 23,
76
+ 24,
77
+ 25,
78
+ 26,
79
+ 27,
80
+ 28,
81
+ 29,
82
+ 30,
83
+ 31
84
+ ],
85
+ "modality_keys": [
86
+ "base",
87
+ "torso",
88
+ "left_arm",
89
+ "left_gripper",
90
+ "right_arm",
91
+ "right_gripper"
92
+ ],
93
+ "sin_cos_embedding_keys": null,
94
+ "mean_std_embedding_keys": null,
95
+ "action_configs": [
96
+ {
97
+ "rep": "ABSOLUTE",
98
+ "type": "NON_EEF",
99
+ "format": "DEFAULT",
100
+ "state_key": null
101
+ },
102
+ {
103
+ "rep": "RELATIVE",
104
+ "type": "NON_EEF",
105
+ "format": "DEFAULT",
106
+ "state_key": "trunk_qpos"
107
+ },
108
+ {
109
+ "rep": "RELATIVE",
110
+ "type": "NON_EEF",
111
+ "format": "DEFAULT",
112
+ "state_key": "arm_left_qpos"
113
+ },
114
+ {
115
+ "rep": "ABSOLUTE",
116
+ "type": "NON_EEF",
117
+ "format": "DEFAULT",
118
+ "state_key": null
119
+ },
120
+ {
121
+ "rep": "RELATIVE",
122
+ "type": "NON_EEF",
123
+ "format": "DEFAULT",
124
+ "state_key": "arm_right_qpos"
125
+ },
126
+ {
127
+ "rep": "ABSOLUTE",
128
+ "type": "NON_EEF",
129
+ "format": "DEFAULT",
130
+ "state_key": null
131
+ }
132
+ ]
133
+ },
134
+ "language": {
135
+ "delta_indices": [
136
+ 0
137
+ ],
138
+ "modality_keys": [
139
+ "annotation.human.coarse_action"
140
+ ],
141
+ "sin_cos_embedding_keys": null,
142
+ "mean_std_embedding_keys": null,
143
+ "action_configs": null
144
+ }
145
+ },
146
+ "gr1": {
147
+ "video": {
148
+ "delta_indices": [
149
+ 0
150
+ ],
151
+ "modality_keys": [
152
+ "ego_view_bg_crop_pad_res256_freq20"
153
+ ],
154
+ "sin_cos_embedding_keys": null,
155
+ "mean_std_embedding_keys": null,
156
+ "action_configs": null
157
+ },
158
+ "state": {
159
+ "delta_indices": [
160
+ 0
161
+ ],
162
+ "modality_keys": [
163
+ "left_arm",
164
+ "right_arm",
165
+ "left_hand",
166
+ "right_hand",
167
+ "waist"
168
+ ],
169
+ "sin_cos_embedding_keys": [
170
+ "left_arm",
171
+ "right_arm",
172
+ "left_hand",
173
+ "right_hand",
174
+ "waist"
175
+ ],
176
+ "mean_std_embedding_keys": null,
177
+ "action_configs": null
178
+ },
179
+ "action": {
180
+ "delta_indices": [
181
+ 0,
182
+ 1,
183
+ 2,
184
+ 3,
185
+ 4,
186
+ 5,
187
+ 6,
188
+ 7,
189
+ 8,
190
+ 9,
191
+ 10,
192
+ 11,
193
+ 12,
194
+ 13,
195
+ 14,
196
+ 15
197
+ ],
198
+ "modality_keys": [
199
+ "left_arm",
200
+ "right_arm",
201
+ "left_hand",
202
+ "right_hand",
203
+ "waist"
204
+ ],
205
+ "sin_cos_embedding_keys": null,
206
+ "mean_std_embedding_keys": null,
207
+ "action_configs": [
208
+ {
209
+ "rep": "RELATIVE",
210
+ "type": "NON_EEF",
211
+ "format": "DEFAULT",
212
+ "state_key": null
213
+ },
214
+ {
215
+ "rep": "RELATIVE",
216
+ "type": "NON_EEF",
217
+ "format": "DEFAULT",
218
+ "state_key": null
219
+ },
220
+ {
221
+ "rep": "RELATIVE",
222
+ "type": "NON_EEF",
223
+ "format": "DEFAULT",
224
+ "state_key": null
225
+ },
226
+ {
227
+ "rep": "RELATIVE",
228
+ "type": "NON_EEF",
229
+ "format": "DEFAULT",
230
+ "state_key": null
231
+ },
232
+ {
233
+ "rep": "ABSOLUTE",
234
+ "type": "NON_EEF",
235
+ "format": "DEFAULT",
236
+ "state_key": null
237
+ }
238
+ ]
239
+ },
240
+ "language": {
241
+ "delta_indices": [
242
+ 0
243
+ ],
244
+ "modality_keys": [
245
+ "task"
246
+ ],
247
+ "sin_cos_embedding_keys": null,
248
+ "mean_std_embedding_keys": null,
249
+ "action_configs": null
250
+ }
251
+ },
252
+ "robocasa_panda_omron": {
253
+ "video": {
254
+ "delta_indices": [
255
+ 0
256
+ ],
257
+ "modality_keys": [
258
+ "res256_image_side_0",
259
+ "res256_image_side_1",
260
+ "res256_image_wrist_0"
261
+ ],
262
+ "sin_cos_embedding_keys": null,
263
+ "mean_std_embedding_keys": null,
264
+ "action_configs": null
265
+ },
266
+ "state": {
267
+ "delta_indices": [
268
+ 0
269
+ ],
270
+ "modality_keys": [
271
+ "end_effector_position_relative",
272
+ "end_effector_rotation_relative",
273
+ "gripper_qpos",
274
+ "base_position",
275
+ "base_rotation"
276
+ ],
277
+ "sin_cos_embedding_keys": null,
278
+ "mean_std_embedding_keys": null,
279
+ "action_configs": null
280
+ },
281
+ "action": {
282
+ "delta_indices": [
283
+ 0,
284
+ 1,
285
+ 2,
286
+ 3,
287
+ 4,
288
+ 5,
289
+ 6,
290
+ 7,
291
+ 8,
292
+ 9,
293
+ 10,
294
+ 11,
295
+ 12,
296
+ 13,
297
+ 14,
298
+ 15
299
+ ],
300
+ "modality_keys": [
301
+ "end_effector_position",
302
+ "end_effector_rotation",
303
+ "gripper_close",
304
+ "base_motion",
305
+ "control_mode"
306
+ ],
307
+ "sin_cos_embedding_keys": null,
308
+ "mean_std_embedding_keys": null,
309
+ "action_configs": [
310
+ {
311
+ "rep": "ABSOLUTE",
312
+ "type": "NON_EEF",
313
+ "format": "DEFAULT",
314
+ "state_key": null
315
+ },
316
+ {
317
+ "rep": "ABSOLUTE",
318
+ "type": "NON_EEF",
319
+ "format": "DEFAULT",
320
+ "state_key": null
321
+ },
322
+ {
323
+ "rep": "ABSOLUTE",
324
+ "type": "NON_EEF",
325
+ "format": "DEFAULT",
326
+ "state_key": null
327
+ },
328
+ {
329
+ "rep": "ABSOLUTE",
330
+ "type": "NON_EEF",
331
+ "format": "DEFAULT",
332
+ "state_key": null
333
+ },
334
+ {
335
+ "rep": "ABSOLUTE",
336
+ "type": "NON_EEF",
337
+ "format": "DEFAULT",
338
+ "state_key": null
339
+ }
340
+ ]
341
+ },
342
+ "language": {
343
+ "delta_indices": [
344
+ 0
345
+ ],
346
+ "modality_keys": [
347
+ "annotation.human.task_description"
348
+ ],
349
+ "sin_cos_embedding_keys": null,
350
+ "mean_std_embedding_keys": null,
351
+ "action_configs": null
352
+ }
353
+ }
354
+ },
355
+ "image_crop_size": null,
356
+ "image_target_size": null,
357
+ "use_albumentations": true,
358
+ "random_rotation_angle": null,
359
+ "color_jitter_params": {
360
+ "brightness": 0.3,
361
+ "contrast": 0.4,
362
+ "saturation": 0.5,
363
+ "hue": 0.08
364
+ },
365
+ "shortest_image_edge": 256,
366
+ "crop_fraction": 0.95,
367
+ "model_name": "nvidia/Eagle-Block2A-2B-v2",
368
+ "model_type": "eagle",
369
+ "formalize_language": true,
370
+ "max_state_dim": 128,
371
+ "max_action_dim": 128,
372
+ "max_action_horizon": 50,
373
+ "use_percentiles": false,
374
+ "clip_outliers": true,
375
+ "apply_sincos_state_encoding": true,
376
+ "use_relative_action": true
377
+ }
378
+ }
processor/statistics.json ADDED
The diff for this file is too large to render. See raw diff