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GR00T-N1.6-DROID

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Gr00tN1d6
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GR00T-N1.6-DROID
File size: 2,820 Bytes 
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{
  "processor_class": "Gr00tN1d6Processor",
  "processor_kwargs": {
    "modality_configs": {
      "oxe_droid": {
        "video": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "exterior_image_1_left",
            "wrist_image_left"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "state": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "joint_position",
            "gripper_position"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "action": {
          "delta_indices": [
            0,
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            31
          ],
          "modality_keys": [
            "joint_position",
            "gripper_position"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": [
            {
              "rep": "RELATIVE",
              "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.language.language_instruction"
          ],
          "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,
    "model_name": "nvidia/Eagle-Block2A-2B-v2",
    "model_type": "eagle",
    "formalize_language": true,
    "max_state_dim": 128,
    "max_action_dim": 128,
    "max_action_horizon": 50,
    "use_percentiles": false,
    "clip_outliers": true,
    "apply_sincos_state_encoding": true,
    "use_relative_action": true
  }
}