Safetensors
rho-base / data_config.json
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{
"batch_size": 192,
"num_workers": 8,
"shuffle_buffer_size": 1000,
"normalization_mapping": {
"ACTION": "ACTIONCHUNK_QUANTILE",
"ENV": "QUANTILE",
"STATE": "QUANTILE",
"VISUAL": "IDENTITY"
},
"features": {
"action": {
"type": "ACTION",
"shape": "(20,)"
},
"observation.image.0": {
"type": "VISUAL",
"shape": "(3, 224, 224)"
},
"observation.image.1": {
"type": "VISUAL",
"shape": "(3, 224, 224)"
},
"observation.image.2": {
"type": "VISUAL",
"shape": "(3, 224, 224)"
},
"observation.state": {
"type": "STATE",
"shape": "(20,)"
}
},
"clip_values": {
"ENV": [
-1.05,
1.05
],
"STATE": [
-1.05,
1.05
]
},
"chunk_size": null,
"action_time_horizon_s": null,
"min_action_chunk_size": 8,
"observation_mapping": {
"action.ee_6d_pos": "action",
"observation.ee_6d_pos": "observation.state",
"observation.images.agentview_image": "observation.image.0",
"observation.images.left_wrist_image": "observation.image.1",
"observation.images.right_wrist_image": "observation.image.2",
"observation.language_instruction": "task"
},
"observation_whitelist": null,
"observation_blacklist": null,
"transform_mapping": {
"action": [
{
"type": "convert_to_6d_actions",
"action_key": "action",
"action_type": "EE_6D_POS",
"input_type": "Dict",
"post_norm": false
},
{
"type": "delta_actions",
"state_key": "observation.state",
"action_key": "action",
"action_type": "EE_6D_POS",
"input_type": "Dict",
"post_norm": false,
"relative_to_state": true,
"use_absolute_grippers": false
}
],
"observation.image.0": [
{
"type": "resize_with_padding",
"height": 224,
"width": 224,
"mode": "bilinear",
"align_corners": false,
"input_type": "Tensor"
},
{
"type": "color_jitter",
"brightness": 0.2,
"contrast": [
0.8,
1.2
],
"saturation": [
0.8,
1.2
],
"hue": 0.05,
"input_type": "Tensor"
}
],
"observation.image.1": [
{
"type": "resize_with_padding",
"height": 224,
"width": 224,
"mode": "bilinear",
"align_corners": false,
"input_type": "Tensor"
},
{
"type": "color_jitter",
"brightness": 0.2,
"contrast": [
0.8,
1.2
],
"saturation": [
0.8,
1.2
],
"hue": 0.05,
"input_type": "Tensor"
}
],
"observation.image.2": [
{
"type": "resize_with_padding",
"height": 224,
"width": 224,
"mode": "bilinear",
"align_corners": false,
"input_type": "Tensor"
},
{
"type": "color_jitter",
"brightness": 0.2,
"contrast": [
0.8,
1.2
],
"saturation": [
0.8,
1.2
],
"hue": 0.05,
"input_type": "Tensor"
}
],
"observation.state": [
{
"type": "convert_to_6d_actions",
"action_key": "observation.state",
"action_type": "EE_6D_POS",
"input_type": "Dict",
"post_norm": false
}
]
},
"language_instruction": null,
"training_mode": "ROBOT_FLOWMATCH",
"action_type": "EE_6D_POS",
"serialize_stats": true,
"video_decoder_cache_size": null,
"repo_id": "tabletopsim_combined",
"video_root_dir": null,
"streaming": false,
"tolerance_s": 0.1,
"use_imagenet_stats": false,
"split_name": "train",
"prefetch_factor": 2,
"max_episodes": null
}