Robotics
LeRobot
Safetensors
groot
patchbench-groot-n17 / policy_preprocessor.json
UD77's picture
Upload DataProcessorPipeline
ae9d445 verified
Raw History Blame Contribute Delete
65.1 kB
{
"name": "policy_preprocessor",
"steps": [
{
"registry_name": "rename_observations_processor",
"config": {
"rename_map": {}
}
},
{
"registry_name": "to_batch_processor",
"config": {}
},
{
"registry_name": "groot_n1_7_pack_inputs_v1",
"config": {
"state_horizon": 1,
"action_horizon": 40,
"valid_action_horizon": 16,
"video_horizon": null,
"max_state_dim": 132,
"max_action_dim": 132,
"language_key": "task",
"formalize_language": true,
"embodiment_tag": "new_embodiment",
"embodiment_mapping": {
"oxe_droid_relative_eef_relative_joint": 24,
"xdof_relative_eef_relative_joint": 27,
"xdof_relative_eef_relative_joint_subtask": 27,
"real_g1_relative_eef_relative_joints": 25,
"real_r1_pro_sharpa_relative_eef": 26,
"real_r1_pro_sharpa_relative_eef_human": 26,
"real_r1_pro_sharpa_relative_eef_maxinsights": 26,
"real_r1_pro_sharpa_relative_eef_mecka": 26,
"unitree_g1_full_body_with_waist_height_nav_cmd": 25,
"simpler_env_google": 0,
"simpler_env_widowx": 1,
"libero_sim": 2,
"new_embodiment": 10
},
"normalize_min_max": true,
"state_dropout_prob": 0.0,
"clip_outliers": true,
"use_percentiles": true,
"video_modality_keys": [
"front",
"wrist"
],
"raw_stats": {
"state": {
"single_arm": {
"min": [
-2.2540173530578613,
-49.895286560058594,
17.590147018432617,
56.872982025146484,
-93.81487274169922
],
"max": [
29.359954833984375,
4.599508762359619,
68.37000274658203,
79.40850067138672,
-58.173095703125
],
"mean": [
10.821338653564453,
-17.90731430053711,
42.185394287109375,
65.78289031982422,
-79.32705688476562
],
"std": [
5.165467739105225,
8.690706253051758,
8.290496826171875,
3.663755416870117,
5.696638107299805
],
"count": [
94848
],
"q01": [
7.538022041320801,
-34.651283264160156,
29.801191329956055,
64.26817321777344,
-82.70247650146484
],
"q10": [
9.588154792785645,
-30.494375228881836,
32.32337188720703,
65.00772094726562,
-80.55867004394531
],
"q50": [
10.709047317504883,
-17.948040008544922,
42.63250732421875,
65.3862075805664,
-79.45135498046875
],
"q90": [
12.317793846130371,
-8.006897926330566,
53.75985336303711,
67.37617492675781,
-77.84822082519531
],
"q99": [
15.205772399902344,
-5.716574192047119,
56.34037780761719,
69.60997009277344,
-74.69073486328125
]
},
"gripper": {
"min": [
-8.393832206726074
],
"max": [
-8.262035369873047
],
"mean": [
-8.329207420349121
],
"std": [
0.028321513906121254
],
"count": [
94848
],
"q01": [
-8.389684677124023
],
"q10": [
-8.374053001403809
],
"q50": [
-8.31692886352539
],
"q90": [
-8.306167602539062
],
"q99": [
-8.305684089660645
]
}
},
"action": {
"single_arm": {
"min": [
-4.314885139465332,
-52.818206787109375,
15.515036582946777,
55.5665168762207,
-95.05695343017578
],
"max": [
31.270666122436523,
3.492250442504883,
68.10891723632812,
80.46508026123047,
-55.87514114379883
],
"mean": [
10.759955406188965,
-18.605697631835938,
39.88101577758789,
65.66047668457031,
-79.3949203491211
],
"std": [
5.20877742767334,
8.766295433044434,
8.57986831665039,
3.729001522064209,
5.747552871704102
],
"count": [
94848
],
"q01": [
8.262699127197266,
-36.09942626953125,
27.2635440826416,
64.40731811523438,
-82.00459289550781
],
"q10": [
9.481926918029785,
-31.284149169921875,
29.740436553955078,
64.91738891601562,
-80.68558502197266
],
"q50": [
10.609515190124512,
-18.320226669311523,
40.035667419433594,
65.30152893066406,
-79.5511474609375
],
"q90": [
12.2064790725708,
-8.504006385803223,
51.984130859375,
67.12973022460938,
-77.96086120605469
],
"q99": [
15.236801147460938,
-6.239810466766357,
55.435455322265625,
69.58155059814453,
-74.66887664794922
]
},
"gripper": {
"min": [
-8.393832206726074
],
"max": [
-8.393832206726074
],
"mean": [
-8.393834114074707
],
"std": [
0.0009912799578160048
],
"count": [
94848
],
"q01": [
-8.393832206726074
],
"q10": [
-8.393832206726074
],
"q50": [
-8.393832206726074
],
"q90": [
-8.393832206726074
],
"q99": [
-8.393832206726074
]
}
},
"relative_action": {
"single_arm": {
"min": [
[
-6.001944065093994,
-12.177680969238281,
-8.207759857177734,
-5.289543151855469,
-5.363975524902344
],
[
-7.000877380371094,
-14.210132598876953,
-9.252273559570312,
-6.2001190185546875,
-6.3055572509765625
],
[
-7.929793357849121,
-16.003143310546875,
-9.97030258178711,
-7.064624786376953,
-7.2506561279296875
],
[
-8.799449920654297,
-17.53998565673828,
-10.405391693115234,
-7.815326690673828,
-8.12811279296875
],
[
-9.579695701599121,
-19.045482635498047,
-10.926204681396484,
-8.497379302978516,
-9.031455993652344
],
[
-10.321640968322754,
-20.238733291625977,
-11.313907623291016,
-9.058719635009766,
-9.863418579101562
],
[
-10.949871063232422,
-21.247438430786133,
-11.631450653076172,
-9.56618881225586,
-10.588813781738281
],
[
-11.544596672058105,
-22.015220642089844,
-11.80789566040039,
-9.946033477783203,
-11.278480529785156
],
[
-12.077168464660645,
-22.619964599609375,
-11.922306060791016,
-10.307914733886719,
-11.927864074707031
],
[
-12.538795471191406,
-23.028249740600586,
-11.96316909790039,
-10.569198608398438,
-12.535743713378906
],
[
-12.958687782287598,
-23.342294692993164,
-12.39944839477539,
-10.805419921875,
-13.134788513183594
],
[
-13.368517875671387,
-23.521921157836914,
-12.756317138671875,
-11.019168853759766,
-13.757514953613281
],
[
-13.61984920501709,
-23.6395320892334,
-12.996997833251953,
-11.236820220947266,
-14.214271545410156
],
[
-13.749730110168457,
-23.67111587524414,
-13.299224853515625,
-11.367412567138672,
-14.457565307617188
],
[
-13.799596786499023,
-23.6389102935791,
-13.598316192626953,
-11.424602508544922,
-14.541664123535156
],
[
-13.351556777954102,
-21.7371768951416,
-14.199214935302734,
-11.13473129272461,
-14.065338134765625
],
[
-12.725898742675781,
-19.431676864624023,
-14.663211822509766,
-10.801445007324219,
-13.533416748046875
],
[
-11.995270729064941,
-16.941694259643555,
-15.143253326416016,
-10.463459014892578,
-13.052352905273438
],
[
-11.227906227111816,
-14.53370475769043,
-15.845523834228516,
-10.144317626953125,
-12.548110961914062
],
[
-10.468106269836426,
-12.771913528442383,
-16.46552276611328,
-9.863025665283203,
-12.077392578125
],
[
-9.744843482971191,
-11.360685348510742,
-16.90093231201172,
-9.629924774169922,
-11.681327819824219
],
[
-9.080001831054688,
-11.236980438232422,
-17.107139587402344,
-9.916778564453125,
-11.653289794921875
],
[
-8.666610717773438,
-11.491004943847656,
-17.141494750976562,
-10.176605224609375,
-11.667915344238281
],
[
-8.558831214904785,
-11.615423202514648,
-17.058300018310547,
-10.279869079589844,
-11.683509826660156
],
[
-8.595391273498535,
-10.827234268188477,
-17.009475708007812,
-10.240455627441406,
-11.689094543457031
],
[
-8.633462905883789,
-10.36821174621582,
-17.432903289794922,
-10.194740295410156,
-11.68402099609375
],
[
-8.667533874511719,
-9.93217658996582,
-17.899295806884766,
-10.183673858642578,
-11.667961120605469
],
[
-8.696578979492188,
-9.147878646850586,
-18.369129180908203,
-10.027568817138672,
-11.64044189453125
],
[
-8.720670700073242,
-8.154165267944336,
-18.834251403808594,
-9.82430648803711,
-11.601638793945312
],
[
-8.739994049072266,
-7.071088790893555,
-19.290569305419922,
-9.626667022705078,
-11.565330505371094
],
[
-8.746684074401855,
-6.069086074829102,
-19.744609832763672,
-9.493698120117188,
-11.534767150878906
],
[
-8.750040054321289,
-5.307661056518555,
-20.19151496887207,
-9.521915435791016,
-11.513725280761719
],
[
-8.816398620605469,
-5.162528991699219,
-20.63028907775879,
-9.547492980957031,
-11.505157470703125
],
[
-8.877890586853027,
-5.0558624267578125,
-21.072479248046875,
-9.589397430419922,
-11.497512817382812
],
[
-8.929264068603516,
-4.944522857666016,
-21.409252166748047,
-9.645122528076172,
-11.489212036132812
],
[
-8.980473518371582,
-4.8220109939575195,
-21.590538024902344,
-9.699913024902344,
-11.480461120605469
],
[
-9.169022560119629,
-4.69764518737793,
-21.658340454101562,
-9.931171417236328,
-11.471092224121094
],
[
-9.32693099975586,
-4.562111854553223,
-21.622573852539062,
-10.190998077392578,
-11.459892272949219
],
[
-9.471251487731934,
-4.493610382080078,
-21.58098030090332,
-10.363868713378906,
-11.457870483398438
],
[
-9.6011323928833,
-4.738285064697266,
-21.477540969848633,
-10.467132568359375,
-11.466217041015625
]
],
"max": [
[
8.067456245422363,
8.974357604980469,
3.2656822204589844,
5.0827484130859375,
9.044479370117188
],
[
9.731695175170898,
10.759552001953125,
4.630062103271484,
6.213966369628906,
10.96514892578125
],
[
11.378082275390625,
12.394908905029297,
5.811187744140625,
7.2044219970703125,
12.779853820800781
],
[
12.806934356689453,
13.7322998046875,
6.759922027587891,
8.159538269042969,
14.413337707519531
],
[
14.187966346740723,
14.876888275146484,
7.680763244628906,
8.978240966796875,
15.959850311279297
],
[
15.400166511535645,
15.795318603515625,
8.464614868164062,
9.704429626464844,
17.258773803710938
],
[
16.422683715820312,
16.464397430419922,
9.177051544189453,
10.368049621582031,
18.503334045410156
],
[
17.440195083618164,
16.877525329589844,
9.901985168457031,
10.907493591308594,
19.59808349609375
],
[
18.32192611694336,
17.163000106811523,
10.694454193115234,
11.386489868164062,
20.640644073486328
],
[
19.125789642333984,
17.1593017578125,
11.63753890991211,
11.844078063964844,
21.592105865478516
],
[
19.91181755065918,
17.08838653564453,
12.657405853271484,
12.263145446777344,
22.487422943115234
],
[
20.73154640197754,
16.910449981689453,
13.669307708740234,
12.686470031738281,
23.38223648071289
],
[
21.36147689819336,
16.677776336669922,
14.636157989501953,
13.151924133300781,
24.13089370727539
],
[
21.673828125,
16.51512908935547,
15.556999206542969,
13.401100158691406,
24.513225555419922
],
[
21.785953521728516,
16.60879135131836,
15.920738220214844,
13.473960876464844,
24.640148162841797
],
[
20.830543518066406,
16.84835433959961,
15.136474609375,
12.755722045898438,
23.580684661865234
],
[
19.57431411743164,
17.18488121032715,
13.971298217773438,
11.857589721679688,
22.272037506103516
],
[
18.165817260742188,
17.844038009643555,
12.676742553710938,
10.876182556152344,
20.84856414794922
],
[
16.896663665771484,
18.59037208557129,
11.277763366699219,
9.897613525390625,
19.386058807373047
],
[
15.987025260925293,
19.29702377319336,
9.86572265625,
8.991096496582031,
18.0732421875
],
[
15.295611381530762,
19.94222068786621,
8.577247619628906,
8.59375,
17.046527862548828
],
[
14.835335731506348,
20.520341873168945,
8.015552520751953,
8.412452697753906,
16.264686584472656
],
[
14.619648933410645,
21.04579734802246,
7.792064666748047,
8.220428466796875,
15.964775085449219
],
[
14.553532600402832,
21.021059036254883,
7.929584503173828,
8.030838012695312,
15.905609130859375
],
[
14.529709815979004,
20.991046905517578,
7.436687469482422,
7.8613128662109375,
15.774421691894531
],
[
14.507197380065918,
20.92013168334961,
6.728137969970703,
7.711906433105469,
15.585723876953125
],
[
14.458806037902832,
20.82131004333496,
6.201190948486328,
7.575096130371094,
15.517730712890625
],
[
14.37072467803955,
20.60029411315918,
5.647357940673828,
7.5200958251953125,
15.477859497070312
],
[
14.242941856384277,
20.296485900878906,
5.232646942138672,
7.515296936035156,
15.445930480957031
],
[
14.08052921295166,
19.9392147064209,
4.822818756103516,
7.617134094238281,
15.517166137695312
],
[
13.889275550842285,
19.548797607421875,
4.355552673339844,
7.689994812011719,
15.533378601074219
],
[
13.676878929138184,
19.140092849731445,
3.845897674560547,
7.733070373535156,
15.490425109863281
],
[
13.452454566955566,
18.725688934326172,
3.3245277404785156,
7.716072082519531,
15.390945434570312
],
[
13.22531795501709,
18.31765365600586,
2.90655517578125,
7.642082214355469,
15.353096008300781
],
[
13.006590843200684,
18.260940551757812,
2.4621200561523438,
7.518486022949219,
15.28717041015625
],
[
12.8025541305542,
18.69683074951172,
1.9934120178222656,
7.356056213378906,
15.137565612792969
],
[
12.61276912689209,
19.117828369140625,
1.5156364440917969,
7.16522216796875,
14.917594909667969
],
[
12.4379243850708,
19.45992660522461,
1.0429916381835938,
6.958290100097656,
14.635963439941406
],
[
12.279282569885254,
19.720199584960938,
0.6233978271484375,
6.750205993652344,
14.309898376464844
],
[
12.131009101867676,
19.86016082763672,
0.579559326171875,
6.553596496582031,
13.958534240722656
]
],
"mean": [
[
-0.037353042513132095,
-0.7516548037528992,
-2.2234532833099365,
-0.0862792357802391,
-0.039379291236400604
],
[
-0.03706439584493637,
-0.604326605796814,
-2.381539821624756,
-0.10254528373479843,
-0.040366362780332565
],
[
-0.0403636172413826,
-0.4508376121520996,
-2.5438692569732666,
-0.11981555819511414,
-0.04476270452141762
],
[
-0.047526419162750244,
-0.2903161346912384,
-2.7096943855285645,
-0.13826338946819305,
-0.05282038077712059
],
[
-0.05849197134375572,
-0.12237253040075302,
-2.878113031387329,
-0.15781232714653015,
-0.0644921213388443
],
[
-0.07294407486915588,
0.05286497622728348,
-3.04842472076416,
-0.17818933725357056,
-0.07950572669506073
],
[
-0.09045061469078064,
0.23486492037773132,
-3.220315456390381,
-0.19906604290008545,
-0.09749812632799149
],
[
-0.11062613874673843,
0.42294996976852417,
-3.3937981128692627,
-0.220368891954422,
-0.11814447492361069
],
[
-0.13318906724452972,
0.6164421439170837,
-3.569096088409424,
-0.24215543270111084,
-0.1411992460489273
],
[
-0.1579827070236206,
0.8147628903388977,
-3.7466824054718018,
-0.2645583748817444,
-0.16650031507015228
],
[
-0.18493638932704926,
1.0174616575241089,
-3.9269332885742188,
-0.28766027092933655,
-0.19394128024578094
],
[
-0.21405039727687836,
1.2242072820663452,
-4.110156536102295,
-0.31156423687934875,
-0.22348400950431824
],
[
-0.2453584522008896,
1.4346415996551514,
-4.2965240478515625,
-0.3363209366798401,
-0.2551269233226776
],
[
-0.27890726923942566,
1.6485158205032349,
-4.485938549041748,
-0.36194145679473877,
-0.2888868451118469
],
[
-0.3147360384464264,
1.8655956983566284,
-4.678415298461914,
-0.3883908689022064,
-0.32479843497276306
],
[
-0.35289010405540466,
2.0857176780700684,
-4.873903274536133,
-0.4155968725681305,
-0.3629079759120941
],
[
-0.38932353258132935,
2.299497604370117,
-5.066234588623047,
-0.4402006268501282,
-0.3993372619152069
],
[
-0.42331406474113464,
2.5050806999206543,
-5.2541937828063965,
-0.4616580903530121,
-0.43341124057769775
],
[
-0.45458248257637024,
2.70149302482605,
-5.436892509460449,
-0.47984713315963745,
-0.46488404273986816
],
[
-0.4831991493701935,
2.8885858058929443,
-5.613689422607422,
-0.49494048953056335,
-0.49381154775619507
],
[
-0.5094561576843262,
3.0670762062072754,
-5.784778118133545,
-0.5072117447853088,
-0.5204252004623413
],
[
-0.5337532162666321,
3.238290786743164,
-5.9505791664123535,
-0.5169434547424316,
-0.5450704097747803
],
[
-0.556522011756897,
3.403989791870117,
-6.112691879272461,
-0.5243464708328247,
-0.5681092739105225
],
[
-0.5781503319740295,
3.5662803649902344,
-6.272932529449463,
-0.5294879078865051,
-0.5899103283882141
],
[
-0.5989401340484619,
3.726057291030884,
-6.432076454162598,
-0.5328570008277893,
-0.6107553839683533
],
[
-0.6191012859344482,
3.883519411087036,
-6.589977741241455,
-0.5350384712219238,
-0.6308886408805847
],
[
-0.6387719511985779,
4.038615703582764,
-6.746028423309326,
-0.5365676283836365,
-0.6504806876182556
],
[
-0.6580626368522644,
4.191215991973877,
-6.899939060211182,
-0.5377224087715149,
-0.669650137424469
],
[
-0.6770184636116028,
4.3411970138549805,
-7.051306247711182,
-0.5386139154434204,
-0.6884875893592834
],
[
-0.695674479007721,
4.488620281219482,
-7.199991226196289,
-0.5391838550567627,
-0.7070048451423645
],
[
-0.7140213251113892,
4.633437156677246,
-7.346048831939697,
-0.5393388867378235,
-0.7252309918403625
],
[
-0.732040286064148,
4.77556037902832,
-7.489596366882324,
-0.5389755964279175,
-0.7431342005729675
],
[
-0.7496895790100098,
4.914936065673828,
-7.6306071281433105,
-0.5380589962005615,
-0.7607035636901855
],
[
-0.7669461369514465,
5.051429271697998,
-7.769196510314941,
-0.536572277545929,
-0.7778945565223694
],
[
-0.7837563157081604,
5.1849260330200195,
-7.905364036560059,
-0.5345435738563538,
-0.7946832180023193
],
[
-0.8001053929328918,
5.315260887145996,
-8.039230346679688,
-0.5319755673408508,
-0.8110368251800537
],
[
-0.8159549236297607,
5.442444801330566,
-8.170633316040039,
-0.5288565158843994,
-0.826923131942749
],
[
-0.831293523311615,
5.566414833068848,
-8.299607276916504,
-0.5251882672309875,
-0.8423164486885071
],
[
-0.8461054563522339,
5.687332630157471,
-8.426423072814941,
-0.5209064483642578,
-0.8571909666061401
],
[
-0.8603767156600952,
5.805178642272949,
-8.55077838897705,
-0.516015350818634,
-0.8715492486953735
]
],
"std": [
[
0.78644859790802,
1.5397099256515503,
1.3004029989242554,
0.5561244487762451,
0.832146167755127
],
[
0.9859241843223572,
1.8415175676345825,
1.4869236946105957,
0.6835008263587952,
1.04337739944458
],
[
1.1719424724578857,
2.129857063293457,
1.665856957435608,
0.8021114468574524,
1.2409650087356567
],
[
1.3397759199142456,
2.3968024253845215,
1.8333545923233032,
0.9091657996177673,
1.419906735420227
],
[
1.4875462055206299,
2.638441562652588,
1.9890319108963013,
1.0036808252334595,
1.578022837638855
],
[
1.6154725551605225,
2.853578567504883,
2.1339030265808105,
1.0858221054077148,
1.7152024507522583
],
[
1.724841833114624,
3.0426292419433594,
2.2689268589019775,
1.1563639640808105,
1.8323675394058228
],
[
1.8170405626296997,
3.2066428661346436,
2.3945224285125732,
1.2161836624145508,
1.9305604696273804
],
[
1.8928245306015015,
3.3465564250946045,
2.5102920532226562,
1.2659772634506226,
2.010439157485962
],
[
1.9519823789596558,
3.4627177715301514,
2.6152241230010986,
1.3061190843582153,
2.0718696117401123
],
[
1.9933874607086182,
3.5551059246063232,
2.707775115966797,
1.3366789817810059,
2.113994836807251
],
[
2.015153646469116,
3.623814344406128,
2.7862772941589355,
1.35737144947052,
2.135223150253296
],
[
2.0149552822113037,
3.6693222522735596,
2.8489670753479004,
1.3676307201385498,
2.133453369140625
],
[
1.9903714656829834,
3.692523717880249,
2.8939316272735596,
1.3668692111968994,
2.1063618659973145
],
[
1.9389537572860718,
3.6945300102233887,
2.9196012020111084,
1.354600429534912,
2.0513916015625
],
[
1.857744812965393,
3.6762406826019287,
2.9247822761535645,
1.3303755521774292,
1.9653658866882324
],
[
1.7787827253341675,
3.666534423828125,
2.9287164211273193,
1.3100703954696655,
1.8814696073532104
],
[
1.7096925973892212,
3.6694822311401367,
2.9348952770233154,
1.2963337898254395,
1.8074294328689575
],
[
1.6543910503387451,
3.684697389602661,
2.9448904991149902,
1.2896801233291626,
1.7472074031829834
],
[
1.6134754419326782,
3.7083749771118164,
2.9586291313171387,
1.289215087890625,
1.7016310691833496
],
[
1.5852961540222168,
3.734736442565918,
2.9744338989257812,
1.2932995557785034,
1.669372320175171
],
[
1.566881775856018,
3.757750988006592,
2.989483118057251,
1.300107717514038,
1.6478252410888672
],
[
1.5549602508544922,
3.7722175121307373,
3.0001399517059326,
1.3078460693359375,
1.633931279182434
],
[
1.5465518236160278,
3.7739906311035156,
3.0021486282348633,
1.3147284984588623,
1.6247539520263672
],
[
1.539504885673523,
3.7620201110839844,
2.9945311546325684,
1.3200085163116455,
1.617980718612671
],
[
1.5324265956878662,
3.737154245376587,
2.9782416820526123,
1.323909044265747,
1.6119834184646606
],
[
1.5245332717895508,
3.700901985168457,
2.9548137187957764,
1.3269580602645874,
1.605690836906433
],
[
1.5154128074645996,
3.654726505279541,
2.9256794452667236,
1.3295073509216309,
1.598421573638916
],
[
1.5049258470535278,
3.6000070571899414,
2.892015218734741,
1.331714391708374,
1.5898468494415283
],
[
1.4931846857070923,
3.5380237102508545,
2.854639768600464,
1.3336083889007568,
1.5799380540847778
],
[
1.4804801940917969,
3.470018148422241,
2.814159393310547,
1.3351348638534546,
1.5688773393630981
],
[
1.4671931266784668,
3.3974287509918213,
2.770933151245117,
1.3362703323364258,
1.5570088624954224
],
[
1.4538445472717285,
3.32185435295105,
2.725276231765747,
1.337077260017395,
1.5448240041732788
],
[
1.4410303831100464,
3.2449564933776855,
2.6774420738220215,
1.337694764137268,
1.532906413078308
],
[
1.4294182062149048,
3.1683998107910156,
2.627711534500122,
1.3383095264434814,
1.521933674812317
],
[
1.419729471206665,
3.093672513961792,
2.5763909816741943,
1.3391001224517822,
1.5126200914382935
],
[
1.4127037525177002,
3.0219366550445557,
2.5240182876586914,
1.3402174711227417,
1.5057027339935303
],
[
1.4089919328689575,
2.9539525508880615,
2.471470832824707,
1.3417495489120483,
1.501852035522461
],
[
1.4090940952301025,
2.8898894786834717,
2.4197938442230225,
1.3437933921813965,
1.5015546083450317
],
[
1.4132450819015503,
2.829556941986084,
2.3700249195098877,
1.3463306427001953,
1.5051020383834839
]
],
"q01": [
[
-2.15708589553833,
-5.439197063446045,
-5.4530415534973145,
-1.9488033056259155,
-2.2814435958862305
],
[
-2.6318445205688477,
-6.115910530090332,
-6.0485711097717285,
-2.350858449935913,
-2.789400577545166
],
[
-3.0501227378845215,
-6.82407283782959,
-6.5836567878723145,
-2.726496696472168,
-3.2981789112091064
],
[
-3.4204046726226807,
-7.533193588256836,
-7.0549845695495605,
-3.0596847534179688,
-3.7394423484802246
],
[
-3.7675745487213135,
-8.148904800415039,
-7.4820556640625,
-3.3650553226470947,
-4.130884170532227
],
[
-4.065935134887695,
-8.706319808959961,
-7.885316848754883,
-3.624004364013672,
-4.467588424682617
],
[
-4.329066753387451,
-9.215872764587402,
-8.312119483947754,
-3.875519275665283,
-4.684971332550049
],
[
-4.5327911376953125,
-9.653950691223145,
-8.744403839111328,
-4.075073719024658,
-4.855474472045898
],
[
-4.649945259094238,
-9.972685813903809,
-9.166491508483887,
-4.207694053649902,
-4.953639984130859
],
[
-4.744407653808594,
-10.196660995483398,
-9.584376335144043,
-4.3372483253479,
-5.05994176864624
],
[
-4.801477909088135,
-10.215397834777832,
-9.988153457641602,
-4.437126636505127,
-5.080454349517822
],
[
-4.751040458679199,
-10.142820358276367,
-10.418383598327637,
-4.504709720611572,
-5.088900566101074
],
[
-4.716446399688721,
-9.843420028686523,
-10.85454273223877,
-4.572662830352783,
-5.0370049476623535
],
[
-4.730105400085449,
-9.317087173461914,
-11.28115463256836,
-4.610276222229004,
-5.000589370727539
],
[
-4.702160358428955,
-8.465646743774414,
-11.734827041625977,
-4.657917022705078,
-4.990907192230225
],
[
-4.7001471519470215,
-7.269523620605469,
-12.157679557800293,
-4.676833152770996,
-4.972474575042725
],
[
-4.722872257232666,
-6.193907260894775,
-12.590469360351562,
-4.73710298538208,
-5.002548694610596
],
[
-4.7732696533203125,
-5.463225364685059,
-13.017125129699707,
-4.821716785430908,
-5.040269374847412
],
[
-4.851504802703857,
-4.92347526550293,
-13.426446914672852,
-4.928254127502441,
-5.118255615234375
],
[
-4.8961567878723145,
-4.548083782196045,
-13.773640632629395,
-5.030023097991943,
-5.192500114440918
],
[
-4.976995944976807,
-4.260714530944824,
-14.04487133026123,
-5.110030174255371,
-5.248940944671631
],
[
-5.056783199310303,
-4.026281833648682,
-14.279139518737793,
-5.207970142364502,
-5.290196418762207
],
[
-5.094624996185303,
-3.8284120559692383,
-14.475141525268555,
-5.281289100646973,
-5.360143661499023
],
[
-5.137899398803711,
-3.641355514526367,
-14.61722469329834,
-5.316562175750732,
-5.385711669921875
],
[
-5.142477512359619,
-3.4839236736297607,
-14.688114166259766,
-5.336727619171143,
-5.397571563720703
],
[
-5.124180793762207,
-3.3391573429107666,
-14.754420280456543,
-5.365350246429443,
-5.386378765106201
],
[
-5.098084449768066,
-3.217193126678467,
-14.797889709472656,
-5.371402263641357,
-5.361772060394287
],
[
-5.072444915771484,
-3.0976016521453857,
-14.840017318725586,
-5.378420352935791,
-5.3281331062316895
],
[
-5.042877674102783,
-2.981274366378784,
-14.912734985351562,
-5.4000468254089355,
-5.304163455963135
],
[
-5.0163350105285645,
-2.843010663986206,
-14.955775260925293,
-5.410698890686035,
-5.273458480834961
],
[
-4.996110916137695,
-2.695418357849121,
-15.045790672302246,
-5.425833702087402,
-5.254485607147217
],
[
-4.969959259033203,
-2.5554163455963135,
-15.157661437988281,
-5.417096138000488,
-5.249378204345703
],
[
-4.976746082305908,
-2.342599391937256,
-15.256474494934082,
-5.439232349395752,
-5.236081600189209
],
[
-4.974895000457764,
-2.1191349029541016,
-15.31275463104248,
-5.434230804443359,
-5.248289108276367
],
[
-4.969857692718506,
-1.891642451286316,
-15.354462623596191,
-5.438207149505615,
-5.24930477142334
],
[
-4.977110862731934,
-1.6500871181488037,
-15.373428344726562,
-5.4420061111450195,
-5.249136924743652
],
[
-4.98233699798584,
-1.3760861158370972,
-15.358865737915039,
-5.420698165893555,
-5.2601518630981445
],
[
-4.977928638458252,
-1.1200226545333862,
-15.275066375732422,
-5.409509658813477,
-5.260711669921875
],
[
-4.9875712394714355,
-0.8360826969146729,
-15.189860343933105,
-5.387115478515625,
-5.272289276123047
],
[
-4.990790843963623,
-0.5877126455307007,
-15.042860984802246,
-5.359096527099609,
-5.278199672698975
]
],
"q99": [
[
3.3138763904571533,
3.3476080894470215,
0.8717190027236938,
1.8301141262054443,
3.493591547012329
],
[
4.199888706207275,
4.392766952514648,
1.4469008445739746,
2.302373170852661,
4.428248405456543
],
[
5.032101631164551,
5.327180862426758,
1.9552264213562012,
2.7595839500427246,
5.348089218139648
],
[
5.841967582702637,
6.152817726135254,
2.406801700592041,
3.2014074325561523,
6.201781272888184
],
[
6.592258453369141,
6.844462871551514,
2.8080086708068848,
3.608978509902954,
7.013178825378418
],
[
7.263246059417725,
7.468982696533203,
3.182957649230957,
3.9688127040863037,
7.755063056945801
],
[
7.899307727813721,
7.96523904800415,
3.5426182746887207,
4.3005218505859375,
8.413501739501953
],
[
8.507244110107422,
8.391501426696777,
3.8549609184265137,
4.528228759765625,
9.078298568725586
],
[
9.071771621704102,
8.810434341430664,
4.153597354888916,
4.767947196960449,
9.526854515075684
],
[
9.596095085144043,
9.1730318069458,
4.396881580352783,
4.8743062019348145,
9.972959518432617
],
[
9.983033180236816,
9.55693531036377,
4.580294609069824,
5.016149044036865,
10.286751747131348
],
[
10.11034870147705,
9.93338394165039,
4.703714847564697,
5.010799884796143,
10.458127975463867
],
[
10.124755859375,
10.374489784240723,
4.618185520172119,
4.886260986328125,
10.461629867553711
],
[
9.914323806762695,
10.844361305236816,
4.389691352844238,
4.604077339172363,
10.250166893005371
],
[
9.494006156921387,
11.325335502624512,
3.802166700363159,
4.247302055358887,
9.745004653930664
],
[
8.88900089263916,
11.854634284973145,
2.988999843597412,
3.795767307281494,
9.147055625915527
],
[
8.316826820373535,
12.39676570892334,
2.0934066772460938,
3.326596975326538,
8.54356575012207
],
[
7.809167385101318,
12.950213432312012,
1.3001723289489746,
2.920200824737549,
8.063103675842285
],
[
7.395539283752441,
13.475318908691406,
0.673859715461731,
2.603952169418335,
7.685842514038086
],
[
7.043855667114258,
13.959660530090332,
0.10517823696136475,
2.3154408931732178,
7.31160831451416
],
[
6.7762370109558105,
14.409974098205566,
-0.14130699634552002,
2.1066792011260986,
7.055685997009277
],
[
6.595184326171875,
14.763361930847168,
-0.2268604040145874,
1.914731502532959,
6.873961925506592
],
[
6.459885597229004,
15.030688285827637,
-0.3080381155014038,
1.8137969970703125,
6.730219841003418
],
[
6.348738193511963,
15.196779251098633,
-0.38075220584869385,
1.729050636291504,
6.605236053466797
],
[
6.259981155395508,
15.17935848236084,
-0.4622727632522583,
1.6768648624420166,
6.5271220207214355
],
[
6.20979642868042,
15.108741760253906,
-0.557520866394043,
1.6594698429107666,
6.483487129211426
],
[
6.12426233291626,
14.94627571105957,
-0.7030801773071289,
1.6468565464019775,
6.462254524230957
],
[
6.0698466300964355,
14.71945858001709,
-0.8360111713409424,
1.6076366901397705,
6.392342567443848
],
[
5.98439884185791,
14.447598457336426,
-0.9481543302536011,
1.5887906551361084,
6.310187339782715
],
[
5.915870189666748,
14.173287391662598,
-1.094398856163025,
1.57901930809021,
6.239184856414795
],
[
5.81538200378418,
13.950968742370605,
-1.2609686851501465,
1.5527660846710205,
6.127146244049072
],
[
5.729552745819092,
13.791020393371582,
-1.4340919256210327,
1.535449743270874,
6.032398700714111
],
[
5.634355068206787,
13.697946548461914,
-1.5861691236495972,
1.5013811588287354,
5.92500114440918
],
[
5.5271453857421875,
13.648616790771484,
-1.7524901628494263,
1.4854871034622192,
5.825228214263916
],
[
5.418612480163574,
13.628931999206543,
-1.9030781984329224,
1.4734954833984375,
5.725783348083496
],
[
5.311378479003906,
13.633039474487305,
-2.074615240097046,
1.4721672534942627,
5.667635917663574
],
[
5.282809734344482,
13.653375625610352,
-2.267116069793701,
1.4786696434020996,
5.610968589782715
],
[
5.265697002410889,
13.680123329162598,
-2.4723567962646484,
1.4828615188598633,
5.581015586853027
],
[
5.276436805725098,
13.63669204711914,
-2.6845879554748535,
1.4938509464263916,
5.5659284591674805
],
[
5.292315483093262,
13.629264831542969,
-2.88057279586792,
1.5171608924865723,
5.5885796546936035
]
],
"count": [
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448,
71448
]
}
}
},
"modality_config": {
"state": {
"modality_keys": [
"single_arm",
"gripper"
]
},
"action": {
"modality_keys": [
"single_arm",
"gripper"
],
"action_configs": [
{
"rep": "RELATIVE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
],
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39
]
},
"video": {
"modality_keys": [
"front",
"wrist"
],
"delta_indices": [
0
]
}
}
},
"state_file": "policy_preprocessor_step_2_groot_n1_7_pack_inputs_v1.safetensors"
},
{
"registry_name": "groot_n1_7_vlm_encode_v1",
"config": {
"model_name": "nvidia/Cosmos-Reason2-2B",
"image_crop_size": [
230,
230
],
"image_target_size": [
256,
256
],
"shortest_image_edge": null,
"crop_fraction": null,
"use_albumentations": false,
"letter_box_transform": false,
"device": "cuda"
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cuda",
"float_dtype": null
}
}
]
}