| !!python/object:groot.vla.omni.configs.base_config.Config |
| data: !!python/object:groot.vla.omni.configs.data.data_config.DataConfig |
| datasets: |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/xdof.yam_v7_all_merged_global_task_exclude_bad_subtasks |
| dataset_type: physical_embodiment |
| embodiment_tag: xdof_relative_eef_relative_joint |
| mix_ratio: 0.1 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/xdof.yam_v7_subtask_only_merged_global_task |
| dataset_type: physical_embodiment |
| embodiment_tag: xdof_relative_eef_relative_joint_subtask |
| mix_ratio: 0.2 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/droid_101_success_idlefiltered_n17 |
| - /mnt/aws-lfs-02/shared/datasets/droid_101_success_idlefiltered_n17_swapped |
| dataset_type: physical_embodiment |
| embodiment_tag: oxe_droid_relative_eef_relative_joint |
| mix_ratio: 0.1 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_g1.g1-in-the-wild-merged |
| dataset_type: physical_embodiment |
| embodiment_tag: real_g1_relative_eef_relative_joints |
| mix_ratio: 0.05 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.inlab_play_real_robot_batch_1 |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.inlab_play_real_robot_batch_2 |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.miscellaneous_1k_trajectories |
| dataset_type: physical_embodiment |
| embodiment_tag: real_r1_pro_sharpa_relative_eef |
| mix_ratio: 0.05 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch1-2025-12-10-merged |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch3_2026-01-04-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch4_2026-01-05-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch5_2026-01-05-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch6_2026-01-05-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch10_2026-01-10-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch11_2026-01-10-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch12_2026-01-10-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch8_2026-01-10-merged_backup |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/mecka_lerobot/real_r1_pro_sharpa.mecka_batch9_2026-01-10-merged_backup |
| dataset_type: physical_embodiment |
| embodiment_tag: real_r1_pro_sharpa_relative_eef_mecka |
| mix_ratio: 0.25 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/maxinsights_lerobot_updated/1530hrs/real_r1_pro_sharpa.maxinsights_1530hrs_updated_train_set_merged |
| dataset_type: physical_embodiment |
| embodiment_tag: real_r1_pro_sharpa_relative_eef_maxinsights |
| mix_ratio: 0.2 |
| - !!python/object:groot.vla.omni.configs.data.data_config.SingleDatasetConfig |
| dataset_paths: |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.inlab_play_human_batch1 |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.inlab_play_human_batch2 |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.shirt_rolling_task24_2000_human_video_filter_n6_keep1619_demo_stats |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.shirt_rolling_task15_2000_human_video_filter_n6_keep572_demo_stats |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.sort_cards_human_filter_n6_keep523_demo_stats_overwrite_left_side_stats |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.tong_task38_2000_human_video_overwrite_left_side_stats |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.syringe_task30i_2000_human_video_filtered |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.unscrew_bottle_task43_2000_human_video_fixed-duration |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.unscrew_Jim_bottle_task47_600_human_video |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.fold_shirt_task30b_500_human_video_halfdone |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.fold_towel_task30c_500_human_video_halfdone |
| - /mnt/aws-lfs-02/shared/datasets/galaxea_sharpa/real_r1_pro_sharpa.sort_cards_task32e_1000_human_video |
| dataset_type: physical_embodiment |
| embodiment_tag: real_r1_pro_sharpa_relative_eef_human |
| mix_ratio: 0.05 |
| download_cache: false |
| episode_sampling_rate: 0.1 |
| image_crop_size: |
| - 244 |
| - 244 |
| image_target_size: |
| - 224 |
| - 224 |
| max_prompt_trajectories: 5 |
| mock_dataset_mode: false |
| modality_configs: |
| oxe_droid_relative_eef_relative_joint: |
| action: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: |
| - &id004 !!python/object/apply:groot.vla.omni.data.types.ActionFormat |
| - xyz+rot6d |
| - &id001 !!python/object/apply:groot.vla.omni.data.types.ActionFormat |
| - default |
| - *id001 |
| action_representation: |
| - &id002 !!python/object/apply:groot.vla.omni.data.types.ActionRepresentation |
| - relative |
| - &id005 !!python/object/apply:groot.vla.omni.data.types.ActionRepresentation |
| - absolute |
| - *id002 |
| action_type: |
| - &id006 !!python/object/apply:groot.vla.omni.data.types.ActionType |
| - eef |
| - &id003 !!python/object/apply:groot.vla.omni.data.types.ActionType |
| - non_eef |
| - *id003 |
| delta_indices: |
| - 0 |
| - 1 |
| - 2 |
| - 3 |
| - 4 |
| - 5 |
| - 6 |
| - 7 |
| - 8 |
| - 9 |
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| - 12 |
| - 13 |
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| - 30 |
| - 31 |
| - 32 |
| - 33 |
| - 34 |
| - 35 |
| - 36 |
| - 37 |
| - 38 |
| - 39 |
| exclude_state: false |
| extra_keys: |
| - joint_position |
| hand_keys: |
| - gripper_position |
| loss_weights: null |
| modality_keys: |
| - eef_9d |
| - gripper_position |
| - joint_position |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: |
| - eef_9d |
| language: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - annotation.language.language_instruction |
| - annotation.language.language_instruction_2 |
| - annotation.language.language_instruction_3 |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| state: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - eef_9d |
| - gripper_position |
| - joint_position |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| video: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - -15 |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - exterior_image_1_left |
| - wrist_image_left |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| real_g1_relative_eef_relative_joints: |
| action: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: |
| - *id004 |
| - *id004 |
| - *id001 |
| - *id001 |
| - *id001 |
| - *id001 |
| - *id001 |
| - *id001 |
| - *id001 |
| action_representation: |
| - *id002 |
| - *id002 |
| - *id005 |
| - *id005 |
| - *id002 |
| - *id002 |
| - *id005 |
| - *id005 |
| - *id005 |
| action_type: |
| - *id006 |
| - *id006 |
| - *id003 |
| - *id003 |
| - *id003 |
| - *id003 |
| - *id003 |
| - *id003 |
| - *id003 |
| delta_indices: |
| - 0 |
| - 1 |
| - 2 |
| - 3 |
| - 4 |
| - 5 |
| - 6 |
| - 7 |
| - 8 |
| - 9 |
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| - 33 |
| - 34 |
| - 35 |
| - 36 |
| - 37 |
| - 38 |
| - 39 |
| exclude_state: false |
| extra_keys: |
| - left_arm |
| - right_arm |
| - waist |
| - base_height_command |
| - navigate_command |
| hand_keys: |
| - left_hand |
| - right_hand |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef_9d |
| - right_wrist_eef_9d |
| - left_hand |
| - right_hand |
| - left_arm |
| - right_arm |
| - waist |
| - base_height_command |
| - navigate_command |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: |
| - left_wrist_eef_9d |
| - right_wrist_eef_9d |
| language: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - annotation.human.task_description |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| state: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef_9d |
| - right_wrist_eef_9d |
| - left_hand |
| - right_hand |
| - left_arm |
| - right_arm |
| - waist |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| video: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - -20 |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - ego_view |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| real_r1_pro_sharpa_relative_eef: |
| action: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: |
| - *id004 |
| - *id004 |
| - *id001 |
| - *id001 |
| action_representation: |
| - *id002 |
| - *id002 |
| - *id005 |
| - *id005 |
| action_type: |
| - *id006 |
| - *id006 |
| - *id003 |
| - *id003 |
| delta_indices: |
| - 0 |
| - 1 |
| - 2 |
| - 3 |
| - 4 |
| - 5 |
| - 6 |
| - 7 |
| - 8 |
| - 9 |
| - 10 |
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| - 12 |
| - 13 |
| - 14 |
| - 15 |
| - 16 |
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| - 18 |
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| - 33 |
| - 34 |
| - 35 |
| - 36 |
| - 37 |
| - 38 |
| - 39 |
| exclude_state: false |
| extra_keys: [] |
| hand_keys: |
| - left_hand_joints |
| - right_hand_joints |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| - left_hand_joints |
| - right_hand_joints |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| language: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - annotation.human.coarse_action |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| state: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| - left_hand_joints |
| - right_hand_joints |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| video: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - -20 |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - ego_view_res320x240_freq20 |
| - left_wrist_view_res320x240_freq20 |
| - right_wrist_view_res320x240_freq20 |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| real_r1_pro_sharpa_relative_eef_human: |
| action: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: |
| - *id004 |
| - *id004 |
| - *id001 |
| - *id001 |
| action_representation: |
| - *id002 |
| - *id002 |
| - *id005 |
| - *id005 |
| action_type: |
| - *id006 |
| - *id006 |
| - *id003 |
| - *id003 |
| 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 |
| exclude_state: false |
| extra_keys: [] |
| hand_keys: |
| - left_hand_joints |
| - right_hand_joints |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| - left_hand_joints |
| - right_hand_joints |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| language: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - annotation.human.coarse_action |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| state: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: true |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| - left_hand_joints |
| - right_hand_joints |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| video: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - -20 |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - ego_view_res320x240_freq20 |
| - left_wrist_view_res320x240_freq20 |
| - right_wrist_view_res320x240_freq20 |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| real_r1_pro_sharpa_relative_eef_maxinsights: |
| action: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: |
| - *id004 |
| - *id004 |
| - *id001 |
| - *id001 |
| action_representation: |
| - *id002 |
| - *id002 |
| - *id005 |
| - *id005 |
| action_type: |
| - *id006 |
| - *id006 |
| - *id003 |
| - *id003 |
| 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 |
| exclude_state: false |
| extra_keys: [] |
| hand_keys: |
| - left_hand_joints |
| - right_hand_joints |
| loss_weights: null |
| modality_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| - left_hand_joints |
| - right_hand_joints |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: |
| - left_wrist_eef |
| - right_wrist_eef |
| language: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: false |
| extra_keys: null |
| hand_keys: null |
| loss_weights: null |
| modality_keys: |
| - annotation.human.coarse_action |
| normalization_mode: null |
| normalize_rotation: true |
| wrist_keys: null |
| state: !!python/object:groot.vla.omni.data.types.ModalityConfig |
| action_format: null |
| action_representation: null |
| action_type: null |
| delta_indices: |
| - 0 |
| exclude_state: true |
| extra_keys: null |
| hand_keys: null |
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|
|
