data = dict(
    params=dict(
        obs_length=1,
        train_datasets=dict(
            sources=dict(
                robodojo=dict(
                    transforms=[
                        dict(dataset_action_length=10, type='LoadData'),
                        dict(
                            data_flow=dict(
                                action_left_arm_joint='action_left_arm_joint',
                                action_left_ee_aa='action_left_ee_aa',
                                action_left_ee_pos='action_left_ee_pos',
                                action_left_gripper_pos=
                                'action_left_gripper_pos',
                                action_right_arm_joint='action_right_arm_joint',
                                action_right_ee_aa='action_right_ee_aa',
                                action_right_ee_pos='action_right_ee_pos',
                                action_right_gripper_pos=
                                'action_right_gripper_pos'),
                            mean=dict(
                                action_left_arm_joint=[
                                    [
                                        -0.0002336617725054936,
                                        0.0010504209257212386,
                                        0.00069890870825548,
                                        -0.00021386633782510936,
                                        8.607115660509195e-05,
                                        -6.806851659389493e-05,
                                    ],
                                    [
                                        -0.0004002431180582599,
                                        0.0018080217178184266,
                                        0.0011964848184807075,
                                        -0.00035407153769715814,
                                        0.00014799337049422207,
                                        -0.0001278701345084231,
                                    ],
                                    [
                                        -0.00051663254560204,
                                        0.002332568508809475,
                                        0.0015356004610111954,
                                        -0.00042153559868894966,
                                        0.0001936866427930397,
                                        -0.00019634610858493552,
                                    ],
                                    [
                                        -0.0005873803794646563,
                                        0.0026338938283714266,
                                        0.00171751213083577,
                                        -0.00040552152354075756,
                                        0.0002176287508169393,
                                        -0.00027751523361778846,
                                    ],
                                    [
                                        -0.0006173492642183204,
                                        0.002704408800194692,
                                        0.001739047647581373,
                                        -0.00029836143858134607,
                                        0.00021982106928955313,
                                        -0.00037340728406703413,
                                    ],
                                    [
                                        -0.0006105591817574187,
                                        0.002556236423740256,
                                        0.0016089472320225254,
                                        -9.75610761332275e-05,
                                        0.0002037817820062569,
                                        -0.0004863481436226504,
                                    ],
                                    [
                                        -0.0005716119367229808,
                                        0.00220981214835286,
                                        0.001340980569465722,
                                        0.00019580472547714556,
                                        0.0001744888782508404,
                                        -0.0006171267844424218,
                                    ],
                                    [
                                        -0.0005055127780022307,
                                        0.001687711658814633,
                                        0.0009511830953590759,
                                        0.000577740551501335,
                                        0.00013695338013141467,
                                        -0.0007635171624476005,
                                    ],
                                    [
                                        -0.00041318778866605046,
                                        0.000996408147454423,
                                        0.00044217849927452943,
                                        0.0010507406906932113,
                                        9.428295600147054e-05,
                                        -0.0009249689308323569,
                                    ],
                                    [
                                        -0.00029424916547926604,
                                        0.0001341606571408618,
                                        -0.00018998938515073013,
                                        0.00162023167768775,
                                        4.821422143378004e-05,
                                        -0.0011006906808611295,
                                    ],
                                ],
                                action_left_ee_aa=[
                                    [
                                        -0.0001317000782950315,
                                        -0.0002463418527481949,
                                        -0.00042868573496659783,
                                    ],
                                    [
                                        -0.00019474563799710815,
                                        -0.0004335946231390664,
                                        -0.0007000906932719675,
                                    ],
                                    [
                                        -0.0001980384332675688,
                                        -0.0005941233937811292,
                                        -0.0008430627948123985,
                                    ],
                                    [
                                        -0.00013931489888619562,
                                        -0.00073133806598705,
                                        -0.0008397205564547654,
                                    ],
                                    [
                                        -1.891409584520592e-05,
                                        -0.0008460376438268523,
                                        -0.0006817634044957805,
                                    ],
                                    [
                                        0.00015994564577421295,
                                        -0.0009387002162067682,
                                        -0.00036916390615666103,
                                    ],
                                    [
                                        0.0003915273984121601,
                                        -0.0010078500112616655,
                                        9.012339422839101e-05,
                                    ],
                                    [
                                        0.0006689800379483901,
                                        -0.0010509440155834098,
                                        0.0006837694940983925,
                                    ],
                                    [
                                        0.0009910805458447662,
                                        -0.0010656180743522827,
                                        0.00141025702056651,
                                    ],
                                    [
                                        0.0013559391589122575,
                                        -0.0010505432365105038,
                                        0.002272507274137474,
                                    ],
                                ],
                                action_left_ee_pos=[
                                    [
                                        0.00016677018835509409,
                                        0.00012862498207813678,
                                        -1.560051817900456e-05,
                                    ],
                                    [
                                        0.0001934893993073374,
                                        0.00010644283257368507,
                                        4.0212713278480693e-05,
                                    ],
                                    [
                                        0.00011143409744293568,
                                        -4.1293334807406245e-05,
                                        0.00015668357160452523,
                                    ],
                                    [
                                        -6.639674895286622e-05,
                                        -0.0002976357637103264,
                                        0.00032794494185869503,
                                    ],
                                    [
                                        -0.0003266740248585238,
                                        -0.0006444482515856467,
                                        0.0005485406585346874,
                                    ],
                                    [
                                        -0.0006560116224127536,
                                        -0.0010619441859967505,
                                        0.0008137003954825047,
                                    ],
                                    [
                                        -0.0010414293916876512,
                                        -0.00152902651359198,
                                        0.0011158320416944255,
                                    ],
                                    [
                                        -0.0014626452645389294,
                                        -0.002027154869607504,
                                        0.001447175084196063,
                                    ],
                                    [
                                        -0.001907544436457679,
                                        -0.0025392333620059787,
                                        0.0018016411333016385,
                                    ],
                                    [
                                        -0.0023757660163160593,
                                        -0.0030494266087428127,
                                        0.002173559802534208,
                                    ],
                                ],
                                action_left_gripper_pos=[
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                ],
                                action_right_arm_joint=[
                                    [
                                        0.0001787740301951409,
                                        0.0016351667777110587,
                                        0.0012448653930520767,
                                        -0.0008581990223503194,
                                        -0.00019627848160280726,
                                        -0.0003219873937794319,
                                    ],
                                    [
                                        0.000288483172519859,
                                        0.0028629489014310064,
                                        0.00218755784252952,
                                        -0.0015144996668467572,
                                        -0.0003531901372447468,
                                        -0.0005830396617885126,
                                    ],
                                    [
                                        0.0003525699348980571,
                                        0.0038078011811231573,
                                        0.002936982685649583,
                                        -0.0020406116351790525,
                                        -0.00048375835490485213,
                                        -0.0008291260766259624,
                                    ],
                                    [
                                        0.00037951891470561363,
                                        0.004538230190475345,
                                        0.0035288813792196815,
                                        -0.0024677896909679527,
                                        -0.0005886873542918052,
                                        -0.0010668029036993451,
                                    ],
                                    [
                                        0.0003773116947273457,
                                        0.005061952653657257,
                                        0.003975694234571891,
                                        -0.002807063500302661,
                                        -0.0006705026800603484,
                                        -0.0012948259304440262,
                                    ],
                                    [
                                        0.00035298429242263416,
                                        0.005411101948393482,
                                        0.004302526327053632,
                                        -0.0030739536598260774,
                                        -0.0007328879116264441,
                                        -0.0015157349667842344,
                                    ],
                                    [
                                        0.000313361527760491,
                                        0.0056198545057305005,
                                        0.004531060854504042,
                                        -0.003279080077263666,
                                        -0.0007792116819267715,
                                        -0.001730335136681934,
                                    ],
                                    [
                                        0.0002646272612526183,
                                        0.005719651482588414,
                                        0.0046825798440098465,
                                        -0.0034339760829942417,
                                        -0.0008126823896535603,
                                        -0.0019379659589870164,
                                    ],
                                    [
                                        0.00020717223046234947,
                                        0.0057163085670750725,
                                        0.004759240831233115,
                                        -0.0035384077041485515,
                                        -0.0008358092518233019,
                                        -0.00213751023443676,
                                    ],
                                    [
                                        0.00013924712221298203,
                                        0.00560894564804176,
                                        0.004757076336103473,
                                        -0.0035873268206015386,
                                        -0.0008508405092692038,
                                        -0.002328784846446202,
                                    ],
                                ],
                                action_right_ee_aa=[
                                    [
                                        0.00034788713456398,
                                        0.00042762336563559864,
                                        -0.0008677584028562739,
                                    ],
                                    [
                                        0.0006009132370595388,
                                        0.0007614016329355963,
                                        -0.001457190793463289,
                                    ],
                                    [
                                        0.0007926070362674991,
                                        0.0010590025919629644,
                                        -0.0018721175040262883,
                                    ],
                                    [
                                        0.0009336054309756759,
                                        0.0013283739068422017,
                                        -0.0021314300073452847,
                                    ],
                                    [
                                        0.001033143121813161,
                                        0.0015711994665115177,
                                        -0.002250742743728141,
                                    ],
                                    [
                                        0.0010999904056456355,
                                        0.0017870980174372452,
                                        -0.0022518069156048917,
                                    ],
                                    [
                                        0.0011416511985664246,
                                        0.001975595964020688,
                                        -0.0021564956719877185,
                                    ],
                                    [
                                        0.0011666875647378817,
                                        0.002135296811488589,
                                        -0.001983623883917761,
                                    ],
                                    [
                                        0.001176771033497538,
                                        0.002265176745230169,
                                        -0.0017389658846570057,
                                    ],
                                    [
                                        0.0011720549215517122,
                                        0.002364653268853571,
                                        -0.0014187493337509364,
                                    ],
                                ],
                                action_right_ee_pos=[
                                    [
                                        0.00020792256082062148,
                                        1.9284940938995584e-05,
                                        -1.551497178995004e-05,
                                    ],
                                    [
                                        0.00025708047866885203,
                                        -0.0001270131648794743,
                                        -8.980888730413616e-05,
                                    ],
                                    [
                                        0.00018732871378597865,
                                        -0.0004175003236146463,
                                        -0.00021699230611411244,
                                    ],
                                    [
                                        1.666485071100741e-05,
                                        -0.0008340635215518366,
                                        -0.00039193424087618215,
                                    ],
                                    [
                                        -0.00023825696079209546,
                                        -0.0013591565998122693,
                                        -0.0006101945203122813,
                                    ],
                                    [
                                        -0.0005610692640785476,
                                        -0.0019717981092196636,
                                        -0.0008676490100423122,
                                    ],
                                    [
                                        -0.0009359883033361287,
                                        -0.002649228038040836,
                                        -0.00115945148078965,
                                    ],
                                    [
                                        -0.0013455435598069831,
                                        -0.0033708201880123865,
                                        -0.0014782903693807041,
                                    ],
                                    [
                                        -0.0017816440006452132,
                                        -0.004116763720000807,
                                        -0.0018184408762678638,
                                    ],
                                    [
                                        -0.0022376774176871774,
                                        -0.004871880728506168,
                                        -0.0021749049113230163,
                                    ],
                                ],
                                action_right_gripper_pos=[
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                ]),
                            mode='gaussian',
                            std=dict(
                                action_left_arm_joint=[
                                    [
                                        0.027481525750413,
                                        0.04829913570762983,
                                        0.042622513533888004,
                                        0.03983032874000348,
                                        0.022101679659071907,
                                        0.04001172844936367,
                                    ],
                                    [
                                        0.05305396364056093,
                                        0.09364565819207406,
                                        0.08244246650413456,
                                        0.07688080111596426,
                                        0.04211183181832189,
                                        0.07618741695739273,
                                    ],
                                    [
                                        0.07748463191100825,
                                        0.13729157193315222,
                                        0.12071699310049025,
                                        0.11204163877774297,
                                        0.06087308335729155,
                                        0.11111369670837046,
                                    ],
                                    [
                                        0.10079624929943966,
                                        0.17978964984440124,
                                        0.15775076883715583,
                                        0.14557798506498787,
                                        0.07841020770047526,
                                        0.14503026267276672,
                                    ],
                                    [
                                        0.12302256788015255,
                                        0.2208960776711886,
                                        0.19338158807297193,
                                        0.17747764373594532,
                                        0.09484117312223767,
                                        0.1777857332477464,
                                    ],
                                    [
                                        0.14414604844747636,
                                        0.26058147159488226,
                                        0.22760493449846964,
                                        0.20787554567163632,
                                        0.11025403777517302,
                                        0.20951277579147476,
                                    ],
                                    [
                                        0.16413397963236642,
                                        0.2987857602452272,
                                        0.2603571184077796,
                                        0.2367089764789002,
                                        0.12471081670276898,
                                        0.2402339809204718,
                                    ],
                                    [
                                        0.18310446820833917,
                                        0.3353985334875134,
                                        0.29161450908654246,
                                        0.26400923230015927,
                                        0.13823257422186364,
                                        0.2695323908560163,
                                    ],
                                    [
                                        0.20107938766623118,
                                        0.3704187961886592,
                                        0.3213766772947356,
                                        0.28982584722591603,
                                        0.1509063424604523,
                                        0.29731077171536546,
                                    ],
                                    [
                                        0.21804736968171318,
                                        0.40388403887489954,
                                        0.34963907045972786,
                                        0.3141890732343815,
                                        0.1627352908150624,
                                        0.3237506922409426,
                                    ],
                                ],
                                action_left_ee_aa=[
                                    [
                                        0.0234356278574971,
                                        0.03437768994549432,
                                        0.033848518112428796,
                                    ],
                                    [
                                        0.04511728464772441,
                                        0.06522795842560514,
                                        0.06522720996067805,
                                    ],
                                    [
                                        0.06586447201719262,
                                        0.09485130096138165,
                                        0.09563636762700826,
                                    ],
                                    [
                                        0.08586392462136452,
                                        0.12346711842551225,
                                        0.1251741480087465,
                                    ],
                                    [
                                        0.10518149202912241,
                                        0.1510469798018435,
                                        0.15383043897863452,
                                    ],
                                    [
                                        0.12382286830048536,
                                        0.17758708439341095,
                                        0.18152417412180719,
                                    ],
                                    [
                                        0.14171776249091467,
                                        0.20298213818208732,
                                        0.20817700629091543,
                                    ],
                                    [
                                        0.15876572289943072,
                                        0.2271468536718896,
                                        0.23360629786936254,
                                    ],
                                    [
                                        0.17506511217748374,
                                        0.25008799631851814,
                                        0.2578966653597955,
                                    ],
                                    [
                                        0.1905074012695627,
                                        0.27172661912898216,
                                        0.28100518477839276,
                                    ],
                                ],
                                action_left_ee_pos=[
                                    [
                                        0.007529582901916562,
                                        0.00724855745425949,
                                        0.00766306553827196,
                                    ],
                                    [
                                        0.014483401196302297,
                                        0.013912769378344259,
                                        0.014733654663795922,
                                    ],
                                    [
                                        0.021089858345640023,
                                        0.020172378421178572,
                                        0.021545417280519133,
                                    ],
                                    [
                                        0.02733988090006957,
                                        0.026032831314962604,
                                        0.028087314380339908,
                                    ],
                                    [
                                        0.033216051535528514,
                                        0.03151534911528543,
                                        0.03436940726721942,
                                    ],
                                    [
                                        0.038720040046586086,
                                        0.03663483503009341,
                                        0.040403586859695244,
                                    ],
                                    [
                                        0.04385287350953477,
                                        0.04140782429197985,
                                        0.046134834951949075,
                                    ],
                                    [
                                        0.048487405883798664,
                                        0.04587844154423804,
                                        0.05153515450027406,
                                    ],
                                    [
                                        0.05265729195869647,
                                        0.050075206240075026,
                                        0.05662165128829599,
                                    ],
                                    [
                                        0.056502380744926264,
                                        0.054014540305831575,
                                        0.06141251949492994,
                                    ],
                                ],
                                action_left_gripper_pos=[
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                ],
                                action_right_arm_joint=[
                                    [
                                        0.025610296588178073,
                                        0.04799733865108168,
                                        0.04299930960863708,
                                        0.03983423859288571,
                                        0.021350630580498964,
                                        0.04093491735186071,
                                    ],
                                    [
                                        0.04943182089924729,
                                        0.09316778312936763,
                                        0.08329035491642182,
                                        0.07684414805898805,
                                        0.04065848340291129,
                                        0.07792939761521844,
                                    ],
                                    [
                                        0.07219723688040969,
                                        0.13662374177000128,
                                        0.12210818894351767,
                                        0.11198312019961235,
                                        0.05872382427823345,
                                        0.11345522410107864,
                                    ],
                                    [
                                        0.09384762983690631,
                                        0.17909712885904785,
                                        0.15974461643632068,
                                        0.14562862381754715,
                                        0.07567814279141338,
                                        0.147885700138784,
                                    ],
                                    [
                                        0.11444917988357009,
                                        0.2202186882039691,
                                        0.19600587543031825,
                                        0.17773928142970008,
                                        0.09160495454400894,
                                        0.18109103000052973,
                                    ],
                                    [
                                        0.1340212280781485,
                                        0.25992400709851077,
                                        0.23090588364401873,
                                        0.20841155291511598,
                                        0.10657109451945398,
                                        0.2131742604888248,
                                    ],
                                    [
                                        0.15248782992196416,
                                        0.29810966765013136,
                                        0.26431872173389587,
                                        0.23757080270870076,
                                        0.12060089816379534,
                                        0.24408503518457575,
                                    ],
                                    [
                                        0.16996398895827033,
                                        0.33475820198735523,
                                        0.2962210215099016,
                                        0.2652323209093689,
                                        0.13372647964693224,
                                        0.2736669247017688,
                                    ],
                                    [
                                        0.18651534722761864,
                                        0.3698300657236233,
                                        0.3266022984773744,
                                        0.2914519178917827,
                                        0.14602592471503303,
                                        0.301835189936452,
                                    ],
                                    [
                                        0.20209773428799113,
                                        0.4033548569779573,
                                        0.3554682689726912,
                                        0.3162637491572623,
                                        0.15753401731105976,
                                        0.32860005552131977,
                                    ],
                                ],
                                action_right_ee_aa=[
                                    [
                                        0.022602155549181525,
                                        0.035530180117331646,
                                        0.0349138950707997,
                                    ],
                                    [
                                        0.04351554424837043,
                                        0.06770611662563446,
                                        0.06738635347731659,
                                    ],
                                    [
                                        0.06353219492191785,
                                        0.09855499017504298,
                                        0.09890766369889721,
                                    ],
                                    [
                                        0.082802430081105,
                                        0.12829591291559594,
                                        0.12958522193108774,
                                    ],
                                    [
                                        0.10140204566602931,
                                        0.15692855594870347,
                                        0.15933578667550236,
                                    ],
                                    [
                                        0.11934741599709434,
                                        0.18438976977517246,
                                        0.1881316687469321,
                                    ],
                                    [
                                        0.1365407369253484,
                                        0.2106338579527239,
                                        0.21584997960401844,
                                    ],
                                    [
                                        0.15299695424918425,
                                        0.23559286840528712,
                                        0.24233204863101976,
                                    ],
                                    [
                                        0.1687114704119736,
                                        0.2592573655964146,
                                        0.2676613887055857,
                                    ],
                                    [
                                        0.18372269405918573,
                                        0.28162463984982244,
                                        0.2917598652031987,
                                    ],
                                ],
                                action_right_ee_pos=[
                                    [
                                        0.007627185185354401,
                                        0.006917675579554725,
                                        0.007506290631392028,
                                    ],
                                    [
                                        0.014675281918758989,
                                        0.013251821737120854,
                                        0.014435897528566931,
                                    ],
                                    [
                                        0.021358702627372942,
                                        0.01918440891333368,
                                        0.02109707520640407,
                                    ],
                                    [
                                        0.02766485175597832,
                                        0.024735340908401543,
                                        0.02747736439658292,
                                    ],
                                    [
                                        0.03358360015205832,
                                        0.029944653012880598,
                                        0.03358432828208687,
                                    ],
                                    [
                                        0.03908431769300251,
                                        0.034825249963530716,
                                        0.03942532081578844,
                                    ],
                                    [
                                        0.044166974241344414,
                                        0.03939635182973928,
                                        0.04498763069813808,
                                    ],
                                    [
                                        0.04876962118897926,
                                        0.043690627639190266,
                                        0.050222415543017145,
                                    ],
                                    [
                                        0.05296256803382005,
                                        0.04772264483632286,
                                        0.055137294466337895,
                                    ],
                                    [
                                        0.05677869625721026,
                                        0.051515713083481796,
                                        0.05975253321300159,
                                    ],
                                ],
                                action_right_gripper_pos=[
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                    [
                                        0.5,
                                    ],
                                ]),
                            type='Normalize'),
                        dict(
                            data_flow=dict(
                                proprio_left_arm_joint='proprio_left_arm_joint',
                                proprio_left_gripper_pos=
                                'proprio_left_gripper_pos',
                                proprio_right_arm_joint=
                                'proprio_right_arm_joint',
                                proprio_right_gripper_pos=
                                'proprio_right_gripper_pos'),
                            mode='quantile',
                            q01=dict(
                                proprio_left_arm_joint=[
                                    [
                                        -1.0541115856170655,
                                        -3.4518439132437753e-14,
                                        1.6985428606815337e-16,
                                        -1.6003172194957733,
                                        -0.6041505694389343,
                                        -1.6724713099002837,
                                    ],
                                ],
                                proprio_left_gripper_pos=[
                                    [
                                        0.0,
                                    ],
                                ],
                                proprio_right_arm_joint=[
                                    [
                                        -0.44401007175445556,
                                        -2.5900331921226738e-14,
                                        1.179751540135558e-16,
                                        -1.6367736232280732,
                                        -1.269262043237686,
                                        -1.7315139174461365,
                                    ],
                                ],
                                proprio_right_gripper_pos=[
                                    [
                                        0.0,
                                    ],
                                ]),
                            q99=dict(
                                proprio_left_arm_joint=[
                                    [
                                        0.5460636925697326,
                                        2.496033661365509,
                                        2.501376061439514,
                                        1.3252216386795044,
                                        1.2511569821834563,
                                        1.7525235462188715,
                                    ],
                                ],
                                proprio_left_gripper_pos=[
                                    [
                                        1.0,
                                    ],
                                ],
                                proprio_right_arm_joint=[
                                    [
                                        1.0833355581760407,
                                        2.419030408859253,
                                        2.3494504857063294,
                                        1.1451962506771087,
                                        0.521767293214798,
                                        1.4940189695358277,
                                    ],
                                ],
                                proprio_right_gripper_pos=[
                                    [
                                        1.0,
                                    ],
                                ]),
                            type='Normalize'),
                        dict(
                            reversed_data_flow=dict(
                                state=dict(
                                    proprio_left_arm_joint=[
                                        0,
                                        6,
                                    ],
                                    proprio_left_gripper_pos=[
                                        7,
                                        8,
                                    ],
                                    proprio_padding=[
                                        16,
                                        60,
                                    ],
                                    proprio_padding_left=[
                                        6,
                                        7,
                                    ],
                                    proprio_padding_right=[
                                        14,
                                        15,
                                    ],
                                    proprio_right_arm_joint=[
                                        8,
                                        14,
                                    ],
                                    proprio_right_gripper_pos=[
                                        15,
                                        16,
                                    ])),
                            type='ComposeState'),
                        dict(
                            reversed_data_flow=dict(
                                action=dict(
                                    action_left_ee_aa=[
                                        3,
                                        6,
                                    ],
                                    action_left_ee_pos=[
                                        0,
                                        3,
                                    ],
                                    action_left_gripper_pos=[
                                        7,
                                        8,
                                    ],
                                    action_mask_key='action_mask',
                                    action_padding=[
                                        16,
                                        60,
                                    ],
                                    action_padding_left=[
                                        6,
                                        7,
                                    ],
                                    action_padding_right=[
                                        14,
                                        15,
                                    ],
                                    action_right_ee_aa=[
                                        11,
                                        14,
                                    ],
                                    action_right_ee_pos=[
                                        8,
                                        11,
                                    ],
                                    action_right_gripper_pos=[
                                        15,
                                        16,
                                    ])),
                            type='ComposeAction'),
                    ])))))
model = dict(
    params=dict(
        model=dict(
            action_shape=(
                10,
                60,
            ),
            dit_num_layers=36,
            enable_dct=False,
            ffn_gradient_checkpointing=False,
            freeze_vlm=False,
            knowledge_insulation=True,
            n_choices=5,
            pretrained_model='Qwen/Qwen3-VL-4B-Instruct',
            state_shape=(
                1,
                60,
            )),
    ))