Download Isaac-GR00T/tests/fixtures/processor_config/processor_config.json from Timsty/groot_deployment: direct link, hf CLI and curl.
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- Download file 3.68 kB
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https://huggingface.co/Timsty/groot_deployment/resolve/main/Isaac-GR00T/tests/fixtures/processor_config/processor_config.json
- Command line
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hf download hf://Timsty/groot_deployment/Isaac-GR00T/tests/fixtures/processor_config/processor_config.json
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curl -L -o processor_config.json https://huggingface.co/Timsty/groot_deployment/resolve/main/Isaac-GR00T/tests/fixtures/processor_config/processor_config.json
3.68 kB
| { | |
| "processor_class": "Gr00tN1d7Processor", | |
| "processor_kwargs": { | |
| "modality_configs": { | |
| "libero_sim": { | |
| "video": { | |
| "delta_indices": [ | |
| 0 | |
| ], | |
| "modality_keys": [ | |
| "observation.images.rgb.head_256_256", | |
| "observation.images.rgb.left_wrist_256_256" | |
| ], | |
| "sin_cos_embedding_keys": null, | |
| "mean_std_embedding_keys": null, | |
| "action_configs": null | |
| }, | |
| "state": { | |
| "delta_indices": [ | |
| 0 | |
| ], | |
| "modality_keys": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ], | |
| "sin_cos_embedding_keys": null, | |
| "mean_std_embedding_keys": null, | |
| "action_configs": null | |
| }, | |
| "action": { | |
| "delta_indices": [ | |
| 0, | |
| 1, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ], | |
| "modality_keys": [ | |
| "x", | |
| "y", | |
| "z", | |
| "roll", | |
| "pitch", | |
| "yaw", | |
| "gripper" | |
| ], | |
| "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": [ | |
| "annotation.human.action.task_description" | |
| ], | |
| "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": { | |
| "brightness": 0.3, | |
| "contrast": 0.4, | |
| "saturation": 0.5, | |
| "hue": 0.08 | |
| }, | |
| "shortest_image_edge": 256, | |
| "crop_fraction": 0.95, | |
| "letter_box_transform": false, | |
| "model_name": "nvidia/Cosmos-Reason2-2B", | |
| "model_type": "qwen", | |
| "formalize_language": true, | |
| "max_state_dim": 128, | |
| "max_action_dim": 128, | |
| "max_action_horizon": 50, | |
| "use_percentiles": false, | |
| "use_mean_std": false, | |
| "clip_outliers": true, | |
| "apply_sincos_state_encoding": true, | |
| "use_relative_action": true, | |
| "exclude_state": false, | |
| "state_dropout_prob": 0.0 | |
| } | |
| } |