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gr00t-atomic-splits

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  1. experiment_cfg/conf.yaml +385 -0
  2. experiment_cfg/config.yaml +421 -0
  3. experiment_cfg/dataset_statistics.json +317 -0
  4. experiment_cfg/final_model_config.json +53 -0
  5. experiment_cfg/final_processor_config.json +0 -0
experiment_cfg/conf.yaml ADDED
@@ -0,0 +1,385 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ load_config_path: null
2
+ model:
3
+ model_type: Gr00tN1d6
4
+ model_dtype: bfloat16
5
+ model_name: nvidia/Eagle-Block2A-2B-v2
6
+ backbone_model_type: eagle
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+ model_revision: null
8
+ tune_top_llm_layers: 4
9
+ backbone_embedding_dim: 2048
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+ tune_llm: false
11
+ tune_visual: false
12
+ select_layer: 16
13
+ reproject_vision: false
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+ use_flash_attention: true
15
+ load_bf16: false
16
+ collator_overwrite_image_inputs: false
17
+ eagle_collator: true
18
+ backbone_trainable_params_fp32: true
19
+ image_crop_size: null
20
+ image_target_size: null
21
+ shortest_image_edge: 256
22
+ crop_fraction: 0.95
23
+ random_rotation_angle: null
24
+ color_jitter_params: null
25
+ use_albumentations_transforms: true
26
+ formalize_language: true
27
+ apply_sincos_state_encoding: false
28
+ use_relative_action: true
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+ max_state_dim: 29
30
+ max_action_dim: 29
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+ action_horizon: 16
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+ hidden_size: 1024
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+ input_embedding_dim: 1536
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+ add_pos_embed: true
35
+ attn_dropout: 0.2
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+ use_vlln: true
37
+ max_seq_len: 1024
38
+ use_alternate_vl_dit: true
39
+ attend_text_every_n_blocks: 2
40
+ diffusion_model_cfg:
41
+ positional_embeddings: null
42
+ num_layers: 32
43
+ num_attention_heads: 32
44
+ attention_head_dim: 48
45
+ norm_type: ada_norm
46
+ dropout: 0.2
47
+ final_dropout: true
48
+ output_dim: 1024
49
+ interleave_self_attention: true
50
+ num_inference_timesteps: 4
51
+ noise_beta_alpha: 1.5
52
+ noise_beta_beta: 1.0
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+ noise_s: 0.999
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+ num_timestep_buckets: 1000
55
+ tune_projector: true
56
+ tune_diffusion_model: true
57
+ tune_vlln: true
58
+ state_dropout_prob: 0.0
59
+ state_additive_noise_scale: 0.0
60
+ max_num_embodiments: 32
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+ data:
62
+ datasets:
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+ - dataset_paths:
64
+ - /root/videos/atomic_split_train/AdjustToasterOvenTemperature/GraspObject/20250820/lerobot
65
+ - /root/videos/atomic_split_train/AdjustToasterOvenTemperature/TwistKnob/20250820/lerobot
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+ - /root/videos/atomic_split_train/AdjustWaterTemperature/GraspObject/20250820/lerobot
67
+ - /root/videos/atomic_split_train/AdjustWaterTemperature/TwistKnob/20250820/lerobot
68
+ - /root/videos/atomic_split_train/CheesyBread/PickObject/20250714/lerobot
69
+ - /root/videos/atomic_split_train/CheesyBread/PlaceObject/20250714/lerobot
70
+ - /root/videos/atomic_split_train/CloseBlenderLid/PickObject/20250822/lerobot
71
+ - /root/videos/atomic_split_train/CloseBlenderLid/PlaceObject/20250822/lerobot
72
+ - /root/videos/atomic_split_train/CloseCabinet-DoubleDoor/ApproachToObject_0/20250819/lerobot
73
+ - /root/videos/atomic_split_train/CloseCabinet-DoubleDoor/ApproachToObject_1/20250819/lerobot
74
+ - /root/videos/atomic_split_train/CloseCabinet-DoubleDoor/CloseDoor_0/20250819/lerobot
75
+ - /root/videos/atomic_split_train/CloseCabinet-DoubleDoor/CloseDoor_1/20250819/lerobot
76
+ - /root/videos/atomic_split_train/CloseCabinet-SingleDoor/ApproachToObject/20250819/lerobot
77
+ - /root/videos/atomic_split_train/CloseCabinet-SingleDoor/CloseDoor/20250819/lerobot
78
+ - /root/videos/atomic_split_train/CloseCabinet/20250819/lerobot
79
+ - /root/videos/atomic_split_train/CloseDishwasher/ApproachToObject/20250820/lerobot
80
+ - /root/videos/atomic_split_train/CloseDishwasher/PushClose/20250820/lerobot
81
+ - /root/videos/atomic_split_train/CloseDrawer/ApproachToObject/20250819/lerobot
82
+ - /root/videos/atomic_split_train/CloseDrawer/PushClose/20250819/lerobot
83
+ - /root/videos/atomic_split_train/CloseElectricKettleLid/20250820/lerobot
84
+ - /root/videos/atomic_split_train/CloseFridge-DoubleDoor/ApproachToObject_0/20250819/lerobot
85
+ - /root/videos/atomic_split_train/CloseFridge-DoubleDoor/ApproachToObject_1/20250819/lerobot
86
+ - /root/videos/atomic_split_train/CloseFridge-DoubleDoor/CloseDoor_0/20250819/lerobot
87
+ - /root/videos/atomic_split_train/CloseFridge-DoubleDoor/CloseDoor_1/20250819/lerobot
88
+ - /root/videos/atomic_split_train/CloseFridge-SingleDoor/ApproachToObject/20250819/lerobot
89
+ - /root/videos/atomic_split_train/CloseFridge-SingleDoor/CloseDoor/20250819/lerobot
90
+ - /root/videos/atomic_split_train/CloseFridgeDrawer/ApproachToObject/20250821/lerobot
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+ - /root/videos/atomic_split_train/CloseFridgeDrawer/PushClose/20250821/lerobot
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+ - /root/videos/atomic_split_train/CloseMicrowave/ApproachToObject/20250819/lerobot
93
+ - /root/videos/atomic_split_train/CloseMicrowave/CloseDoor/20250819/lerobot
94
+ - /root/videos/atomic_split_train/CloseOven-split/ApproachToObject/20250820/lerobot
95
+ - /root/videos/atomic_split_train/CloseOven-split/PushClose/20250820/lerobot
96
+ - /root/videos/atomic_split_train/CloseOven/20250820/lerobot
97
+ - /root/videos/atomic_split_train/CloseStandMixerHead-split/ApproachToObject/20250820/lerobot
98
+ - /root/videos/atomic_split_train/CloseStandMixerHead-split/CloseDoor/20250820/lerobot
99
+ - /root/videos/atomic_split_train/CloseStandMixerHead/20250820/lerobot
100
+ - /root/videos/atomic_split_train/CloseToasterOvenDoor-split/ApproachToObject/20250820/lerobot
101
+ - /root/videos/atomic_split_train/CloseToasterOvenDoor-split/CloseDoor/20250820/lerobot
102
+ - /root/videos/atomic_split_train/CloseToasterOvenDoor/20250820/lerobot
103
+ - /root/videos/atomic_split_train/CoffeeServeMug/PickObject/20250819/lerobot
104
+ - /root/videos/atomic_split_train/CoffeeServeMug/PlaceObject/20250819/lerobot
105
+ - /root/videos/atomic_split_train/CoffeeSetupMug/PickObject/20250819/lerobot
106
+ - /root/videos/atomic_split_train/CoffeeSetupMug/PlaceObject/20250819/lerobot
107
+ - /root/videos/atomic_split_train/LowerHeat/GraspObject/20250805/lerobot
108
+ - /root/videos/atomic_split_train/LowerHeat/TwistKnob/20250805/lerobot
109
+ - /root/videos/atomic_split_train/MakeIcedCoffee/PickObject/20250801/lerobot
110
+ - /root/videos/atomic_split_train/MakeIcedCoffee/PlaceObject/20250801/lerobot
111
+ - /root/videos/atomic_split_train/OpenBlenderLid/PickObject/20250822/lerobot
112
+ - /root/videos/atomic_split_train/OpenBlenderLid/PlaceObject/20250822/lerobot
113
+ - /root/videos/atomic_split_train/OpenCabinet-DoubleDoor/GraspObject_0/20250819/lerobot
114
+ - /root/videos/atomic_split_train/OpenCabinet-DoubleDoor/GraspObject_1/20250819/lerobot
115
+ - /root/videos/atomic_split_train/OpenCabinet-DoubleDoor/OpenDoor_0/20250819/lerobot
116
+ - /root/videos/atomic_split_train/OpenCabinet-DoubleDoor/OpenDoor_1/20250819/lerobot
117
+ - /root/videos/atomic_split_train/OpenCabinet-SingleDoor/GraspObject/20250819/lerobot
118
+ - /root/videos/atomic_split_train/OpenCabinet-SingleDoor/OpenDoor/20250819/lerobot
119
+ - /root/videos/atomic_split_train/OpenDishwasher/GraspObject/20250820/lerobot
120
+ - /root/videos/atomic_split_train/OpenDishwasher/OpenDoor/20250820/lerobot
121
+ - /root/videos/atomic_split_train/OpenDrawer/GraspObject/20250819/lerobot
122
+ - /root/videos/atomic_split_train/OpenDrawer/PullOpen/20250819/lerobot
123
+ - /root/videos/atomic_split_train/OpenElectricKettleLid-split/ApproachToObject/20250820/lerobot
124
+ - /root/videos/atomic_split_train/OpenElectricKettleLid-split/PressButton/20250820/lerobot
125
+ - /root/videos/atomic_split_train/OpenElectricKettleLid/20250820/lerobot
126
+ - /root/videos/atomic_split_train/OpenFridge-DoubleDoor/GraspObject_0/20250819/lerobot
127
+ - /root/videos/atomic_split_train/OpenFridge-DoubleDoor/GraspObject_1/20250819/lerobot
128
+ - /root/videos/atomic_split_train/OpenFridge-DoubleDoor/OpenDoor_0/20250819/lerobot
129
+ - /root/videos/atomic_split_train/OpenFridge-DoubleDoor/OpenDoor_1/20250819/lerobot
130
+ - /root/videos/atomic_split_train/OpenFridge-SingleDoor/GraspObject/20250819/lerobot
131
+ - /root/videos/atomic_split_train/OpenFridge-SingleDoor/OpenDoor/20250819/lerobot
132
+ - /root/videos/atomic_split_train/OpenFridgeDrawer-split/GraspObject/20250821/lerobot
133
+ - /root/videos/atomic_split_train/OpenFridgeDrawer-split/PullOpen/20250821/lerobot
134
+ - /root/videos/atomic_split_train/OpenFridgeDrawer/20250821/lerobot
135
+ - /root/videos/atomic_split_train/OpenMicrowave/GraspObject/20250819/lerobot
136
+ - /root/videos/atomic_split_train/OpenMicrowave/OpenDoor/20250819/lerobot
137
+ - /root/videos/atomic_split_train/OpenOven/GraspObject/20250820/lerobot
138
+ - /root/videos/atomic_split_train/OpenOven/OpenDoor/20250820/lerobot
139
+ - /root/videos/atomic_split_train/OpenStandMixerHead-split/GraspObject/20250820/lerobot
140
+ - /root/videos/atomic_split_train/OpenStandMixerHead-split/OpenDoor/20250820/lerobot
141
+ - /root/videos/atomic_split_train/OpenStandMixerHead/20250820/lerobot
142
+ - /root/videos/atomic_split_train/OpenToasterOvenDoor/GraspObject/20250820/lerobot
143
+ - /root/videos/atomic_split_train/OpenToasterOvenDoor/OpenDoor/20250820/lerobot
144
+ - /root/videos/atomic_split_train/PackDessert/PickObject/20250806/lerobot
145
+ - /root/videos/atomic_split_train/PackDessert/PlaceObject/20250806/lerobot
146
+ - /root/videos/atomic_split_train/PickPlaceCabinetToCounter/PickObject/20250819/lerobot
147
+ - /root/videos/atomic_split_train/PickPlaceCabinetToCounter/PlaceObject/20250819/lerobot
148
+ - /root/videos/atomic_split_train/PickPlaceCounterToBlender/PickObject/20250822/lerobot
149
+ - /root/videos/atomic_split_train/PickPlaceCounterToBlender/PlaceObject/20250822/lerobot
150
+ - /root/videos/atomic_split_train/PickPlaceCounterToCabinet/PickObject/20250819/lerobot
151
+ - /root/videos/atomic_split_train/PickPlaceCounterToCabinet/PlaceObject/20250819/lerobot
152
+ - /root/videos/atomic_split_train/PickPlaceCounterToDrawer/PickObject/20250821/lerobot
153
+ - /root/videos/atomic_split_train/PickPlaceCounterToDrawer/PlaceObject/20250821/lerobot
154
+ - /root/videos/atomic_split_train/PickPlaceCounterToMicrowave/PickObject/20250819/lerobot
155
+ - /root/videos/atomic_split_train/PickPlaceCounterToMicrowave/PlaceObject/20250819/lerobot
156
+ - /root/videos/atomic_split_train/PickPlaceCounterToOven/PickObject/20250819/lerobot
157
+ - /root/videos/atomic_split_train/PickPlaceCounterToOven/PlaceObject/20250819/lerobot
158
+ - /root/videos/atomic_split_train/PickPlaceCounterToSink/PickObject/20250819/lerobot
159
+ - /root/videos/atomic_split_train/PickPlaceCounterToSink/PlaceObject/20250819/lerobot
160
+ - /root/videos/atomic_split_train/PickPlaceCounterToStandMixer/PickObject/20250820/lerobot
161
+ - /root/videos/atomic_split_train/PickPlaceCounterToStandMixer/PlaceObject/20250820/lerobot
162
+ - /root/videos/atomic_split_train/PickPlaceCounterToStove/PickObject/20250819/lerobot
163
+ - /root/videos/atomic_split_train/PickPlaceCounterToStove/PlaceObject/20250819/lerobot
164
+ - /root/videos/atomic_split_train/PickPlaceCounterToToasterOven/PickObject/20250819/lerobot
165
+ - /root/videos/atomic_split_train/PickPlaceCounterToToasterOven/PlaceObject/20250819/lerobot
166
+ - /root/videos/atomic_split_train/PickPlaceDrawerToCounter/PickObject/20250820/lerobot
167
+ - /root/videos/atomic_split_train/PickPlaceDrawerToCounter/PlaceObject/20250820/lerobot
168
+ - /root/videos/atomic_split_train/PickPlaceFridgeDrawerToShelf/PickObject/20250821/lerobot
169
+ - /root/videos/atomic_split_train/PickPlaceFridgeDrawerToShelf/PlaceObject/20250821/lerobot
170
+ - /root/videos/atomic_split_train/PickPlaceFridgeShelfToDrawer/PickObject/20250821/lerobot
171
+ - /root/videos/atomic_split_train/PickPlaceFridgeShelfToDrawer/PlaceObject/20250821/lerobot
172
+ - /root/videos/atomic_split_train/PickPlaceMicrowaveToCounter/PickObject/20250819/lerobot
173
+ - /root/videos/atomic_split_train/PickPlaceMicrowaveToCounter/PlaceObject/20250819/lerobot
174
+ - /root/videos/atomic_split_train/PickPlaceSinkToCounter/PickObject/20250819/lerobot
175
+ - /root/videos/atomic_split_train/PickPlaceSinkToCounter/PlaceObject/20250819/lerobot
176
+ - /root/videos/atomic_split_train/PickPlaceStoveToCounter/PickObject/20250819/lerobot
177
+ - /root/videos/atomic_split_train/PickPlaceStoveToCounter/PlaceObject/20250819/lerobot
178
+ - /root/videos/atomic_split_train/PickPlaceToasterOvenToCounter/PickObject/20250819/lerobot
179
+ - /root/videos/atomic_split_train/PickPlaceToasterOvenToCounter/PlaceObject/20250819/lerobot
180
+ - /root/videos/atomic_split_train/PickPlaceToasterToCounter/PickObject/20250819/lerobot
181
+ - /root/videos/atomic_split_train/PickPlaceToasterToCounter/PlaceObject/20250819/lerobot
182
+ - /root/videos/atomic_split_train/PreheatOven/GraspObject/20250903/lerobot
183
+ - /root/videos/atomic_split_train/PreheatOven/TwistKnob/20250903/lerobot
184
+ - /root/videos/atomic_split_train/SlideDishwasherRack-split/GraspObject/20250820/lerobot
185
+ - /root/videos/atomic_split_train/SlideDishwasherRack-split/SlideRack/20250820/lerobot
186
+ - /root/videos/atomic_split_train/SlideDishwasherRack/20250820/lerobot
187
+ - /root/videos/atomic_split_train/SlideOvenRack-split/GraspObject/20250820/lerobot
188
+ - /root/videos/atomic_split_train/SlideOvenRack-split/SlideRack/20250820/lerobot
189
+ - /root/videos/atomic_split_train/SlideOvenRack/20250820/lerobot
190
+ - /root/videos/atomic_split_train/SlideToasterOvenRack-split/GraspObject/20250820/lerobot
191
+ - /root/videos/atomic_split_train/SlideToasterOvenRack-split/SlideRack/20250820/lerobot
192
+ - /root/videos/atomic_split_train/SlideToasterOvenRack/20250820/lerobot
193
+ - /root/videos/atomic_split_train/StartCoffeeMachine-split/ApproachToObject/20250819/lerobot
194
+ - /root/videos/atomic_split_train/StartCoffeeMachine-split/PressButton/20250819/lerobot
195
+ - /root/videos/atomic_split_train/StartCoffeeMachine/20250819/lerobot
196
+ - /root/videos/atomic_split_train/TurnOffMicrowave-split/ApproachToObject/20250819/lerobot
197
+ - /root/videos/atomic_split_train/TurnOffMicrowave-split/PressButton/20250819/lerobot
198
+ - /root/videos/atomic_split_train/TurnOffMicrowave/20250819/lerobot
199
+ - /root/videos/atomic_split_train/TurnOffSinkFaucet-split/GraspObject/20250819/lerobot
200
+ - /root/videos/atomic_split_train/TurnOffSinkFaucet-split/TwistKnob/20250819/lerobot
201
+ - /root/videos/atomic_split_train/TurnOffSinkFaucet/20250819/lerobot
202
+ - /root/videos/atomic_split_train/TurnOffStove/GraspObject/20250819/lerobot
203
+ - /root/videos/atomic_split_train/TurnOffStove/TwistKnob/20250819/lerobot
204
+ - /root/videos/atomic_split_train/TurnOnBlender-split/ApproachToObject/20250822/lerobot
205
+ - /root/videos/atomic_split_train/TurnOnBlender-split/PressButton/20250822/lerobot
206
+ - /root/videos/atomic_split_train/TurnOnBlender/20250822/lerobot
207
+ - /root/videos/atomic_split_train/TurnOnElectricKettle-split/ApproachToObject/20250820/lerobot
208
+ - /root/videos/atomic_split_train/TurnOnElectricKettle-split/PressButton/20250820/lerobot
209
+ - /root/videos/atomic_split_train/TurnOnElectricKettle/20250820/lerobot
210
+ - /root/videos/atomic_split_train/TurnOnMicrowave-split/ApproachToObject/20250819/lerobot
211
+ - /root/videos/atomic_split_train/TurnOnMicrowave-split/PressButton/20250819/lerobot
212
+ - /root/videos/atomic_split_train/TurnOnMicrowave/20250819/lerobot
213
+ - /root/videos/atomic_split_train/TurnOnSinkFaucet-split/GraspObject/20250819/lerobot
214
+ - /root/videos/atomic_split_train/TurnOnSinkFaucet-split/TwistKnob/20250819/lerobot
215
+ - /root/videos/atomic_split_train/TurnOnSinkFaucet/20250819/lerobot
216
+ - /root/videos/atomic_split_train/TurnOnStove/GraspObject/20250819/lerobot
217
+ - /root/videos/atomic_split_train/TurnOnStove/TwistKnob/20250819/lerobot
218
+ - /root/videos/atomic_split_train/TurnOnToaster-split/ApproachToObject/20250820/lerobot
219
+ - /root/videos/atomic_split_train/TurnOnToaster-split/PressButton/20250820/lerobot
220
+ - /root/videos/atomic_split_train/TurnOnToaster/20250820/lerobot
221
+ - /root/videos/atomic_split_train/TurnOnToasterOven/GraspObject/20250820/lerobot
222
+ - /root/videos/atomic_split_train/TurnOnToasterOven/TwistKnob/20250820/lerobot
223
+ - /root/videos/atomic_split_train/TurnSinkSpout/20250820/lerobot
224
+ - /root/videos/atomic_split_train/TurnSinkSpout/GraspObject/20250820/lerobot
225
+ - /root/videos/atomic_split_train/TurnSinkSpout/TurnSinkSpout/20250820/lerobot
226
+ embodiment_tag: robocasa_panda_omron
227
+ mix_ratio: 1.0
228
+ dataset_type: physical_embodiment
229
+ val_dataset_path: null
230
+ modality_configs:
231
+ robocasa_panda_omron:
232
+ video:
233
+ delta_indices:
234
+ - 0
235
+ modality_keys:
236
+ - res256_image_side_0
237
+ - res256_image_side_1
238
+ - res256_image_wrist_0
239
+ sin_cos_embedding_keys: null
240
+ mean_std_embedding_keys: null
241
+ action_configs: null
242
+ state:
243
+ delta_indices:
244
+ - 0
245
+ modality_keys:
246
+ - end_effector_position_relative
247
+ - end_effector_rotation_relative
248
+ - gripper_qpos
249
+ - base_position
250
+ - base_rotation
251
+ sin_cos_embedding_keys: null
252
+ mean_std_embedding_keys: null
253
+ action_configs: null
254
+ action:
255
+ delta_indices:
256
+ - 0
257
+ - 1
258
+ - 2
259
+ - 3
260
+ - 4
261
+ - 5
262
+ - 6
263
+ - 7
264
+ - 8
265
+ - 9
266
+ - 10
267
+ - 11
268
+ - 12
269
+ - 13
270
+ - 14
271
+ - 15
272
+ modality_keys:
273
+ - end_effector_position
274
+ - end_effector_rotation
275
+ - gripper_close
276
+ - base_motion
277
+ - control_mode
278
+ sin_cos_embedding_keys: null
279
+ mean_std_embedding_keys: null
280
+ action_configs:
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+ - rep: ABSOLUTE
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experiment_cfg/config.yaml ADDED
@@ -0,0 +1,421 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
+ data: !!python/object:gr00t.configs.data.data_config.DataConfig
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+ - /root/videos/atomic_split_train/CloseOven-split/ApproachToObject/20250820/lerobot
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+ - /root/videos/atomic_split_train/OpenOven/GraspObject/20250820/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceCounterToSink/PickObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceCounterToSink/PlaceObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceCounterToStove/PlaceObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceCounterToToasterOven/PickObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceFridgeShelfToDrawer/PlaceObject/20250821/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceStoveToCounter/PlaceObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceToasterOvenToCounter/PickObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceToasterOvenToCounter/PlaceObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PickPlaceToasterToCounter/PlaceObject/20250819/lerobot
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+ - /root/videos/atomic_split_train/PreheatOven/TwistKnob/20250903/lerobot
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+ - /root/videos/atomic_split_train/SlideDishwasherRack/20250820/lerobot
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+ - /root/videos/atomic_split_train/SlideOvenRack-split/GraspObject/20250820/lerobot
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+ - /root/videos/atomic_split_train/SlideOvenRack-split/SlideRack/20250820/lerobot
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+ - /root/videos/atomic_split_train/SlideOvenRack/20250820/lerobot
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+ - /root/videos/atomic_split_train/SlideToasterOvenRack-split/GraspObject/20250820/lerobot
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+ - /root/videos/atomic_split_train/TurnSinkSpout/TurnSinkSpout/20250820/lerobot
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+ embodiment_tag: robocasa_panda_omron
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+ - 224
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183
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