processor_config.json

{
  "processor_class": "Gr00tN1d7Processor",
  "processor_kwargs": {
    "modality_configs": {
      "oxe_droid_relative_eef_relative_joint": {
        "video": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "exterior_image_1_left",
            "wrist_image_left"
          ]
        },
        "state": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "eef_9d",
            "gripper_position",
            "joint_position"
          ]
        },
        "action": {
          "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
          ],
          "modality_keys": [
            "eef_9d",
            "gripper_position",
            "joint_position"
          ],
          "action_configs": [
            {
              "rep": "RELATIVE",
              "type": "EEF",
              "format": "XYZ_ROT6D",
              "state_key": "eef_9d"
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": "gripper_position"
            },
            {
              "rep": "RELATIVE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": "joint_position"
            }
          ]
        },
        "language": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "annotation.language.language_instruction"
          ]
        }
      }
    },
    "use_percentiles": true,
    "use_mean_std": false,
    "image_crop_size": [
      230,
      230
    ],
    "image_target_size": [
      256,
      256
    ],
    "formalize_language": true,
    "max_state_dim": 132,
    "max_action_dim": 132,
    "apply_sincos_state_encoding": false,
    "color_jitter_params": {
      "brightness": 0.3,
      "contrast": 0.4,
      "saturation": 0.5,
      "hue": 0.08
    },
    "random_rotation_angle": 0,
    "letter_box_transform": false,
    "exclude_state": false,
    "state_dropout_prob": 0.2,
    "use_albumentations": true,
    "shortest_image_edge": 256,
    "crop_fraction": 0.95,
    "max_action_horizon": 40,
    "use_relative_action": true
  }
}