processor_config.json

{
  "action_chunk_size": 4,
  "action_config": {
    "distribution": "gaussian",
    "num_bins": {
      "gripper": 2,
      "rotation": {
        "pitch_bins": 16,
        "roll_bins": 16,
        "yaw_bins": 16
      },
      "total": 8194,
      "translation": {
        "phi_bins": 32,
        "r_bins": 8,
        "theta_bins": 16
      }
    },
    "use_spherical": true
  },
  "auto_map": {
    "AutoProcessor": "processing_spatialvla.SpatialVLAProcessor"
  },
  "bin_policy": {
    "rotation": {
      "pitch_bins": [
        -1.0,
        -0.4115936599193285,
        -0.29104547358879707,
        -0.20826581023805568,
        -0.1413565703100373,
        -0.08291675093257278,
        -0.029378179476883648,
        0.02138430191650853,
        0.07087440549650209,
        0.12035206666102569,
        0.17107495621192176,
        0.22453882937374775,
        0.2828504098660745,
        0.34953380249318716,
        0.43186104384798535,
        0.5511251847597765,
        1.0
      ],
      "roll_bins": [
        -1.0,
        -0.6215837263175541,
        -0.507349019592173,
        -0.4280669809368682,
        -0.3637129736542757,
        -0.30737305890469213,
        -0.2556788507616514,
        -0.20660945634332176,
        -0.15872581080672804,
        -0.11081471057103065,
        -0.06165796671584116,
        -0.009799004034488606,
        0.04682360429863422,
        0.11167500361521615,
        0.1919515509327117,
        0.30899446733709324,
        1.0
      ],
      "yaw_bins": [
        -1.0,
        -0.47297395306039053,
        -0.35764825526482835,
        -0.27838621523523094,
        -0.21429467853364048,
        -0.15830073930688715,
        -0.10699122460219368,
        -0.05833146607328673,
        -0.010880127787635079,
        0.03657233964255808,
        0.08523569155894148,
        0.13655198779404776,
        0.19255757501937645,
        0.2566696437196704,
        0.33597288668603686,
        0.45141609325214593,
        0.9999999999999971
      ]
    },
    "translation": {
      "phi_bins": [
        -3.141592653589793,
        -2.145138691617154,
        -1.781031621571447,
        -1.5338207537368138,
        -1.3395918660837354,
        -1.1758879916561145,
        -1.0320136032586869,
        -0.9019694015235495,
        -0.7820153592903285,
        -0.6696360914062615,
        -0.5630370408070919,
        -0.4608735132579998,
        -0.36209321480281553,
        -0.26583861229183575,
        -0.1713826794626111,
        -0.07808397194408238,
        0.014647005979567751,
        0.10737513307560802,
        0.20066516592349218,
        0.29510621983626273,
        0.39133905599285546,
        0.4900896290599093,
        0.5922138639202323,
        0.6987616562579699,
        0.8110740688140167,
        0.9309399818929769,
        1.060865470018673,
        1.2045742224954417,
        1.3680340087366265,
        1.5618703716415705,
        1.8083457023832494,
        2.170535545297236,
        3.141592653589793
      ],
      "r_bins": [
        0.0,
        0.1768400665425895,
        0.29489016945851243,
        0.3944610783174405,
        0.48846847211462574,
        0.5853625981199391,
        0.6957573625311645,
        0.8456032013706751,
        1.7320508075688146
      ],
      "theta_bins": [
        0.0,
        0.7126190247908822,
        0.9349547550393529,
        1.0894823455037714,
        1.2149505035354307,
        1.3247834851718285,
        1.425527680812882,
        1.5211083133172836,
        1.6143138554105154,
        1.7074844346223514,
        1.8029539071545635,
        1.9034887611206504,
        2.0129635432462685,
        2.137804589290109,
        2.2910906410502454,
        2.510012990515716,
        3.141592653589792
      ]
    }
  },
  "intrinsic_config": {
    "bridge_orig/1.0.0": {
      "height": 480,
      "intrinsic": [
        [
          623.588,
          0,
          319.501
        ],
        [
          0,
          623.588,
          239.545
        ],
        [
          0,
          0,
          1
        ]
      ],
      "width": 640
    },
    "default": {
      "height": 480,
      "intrinsic": [
        [
          623.588,
          0,
          319.501
        ],
        [
          0,
          623.588,
          239.545
        ],
        [
          0,
          0,
          1
        ]
      ],
      "width": 640
    }
  },
  "min_sigma": 0.0,
  "num_obs_steps": 1,
  "obs_delta": 1,
  "processor_class": "SpatialVLAProcessor",
  "statistics": {
    "fractal20220817_data/0.1.0": {
      "action": {
        "mask": [
          true,
          true,
          true,
          true,
          true,
          true,
          false
        ],
        "max": [
          1.0364348888397217,
          0.9070407152175903,
          0.7492606043815613,
          1.5505897998809814,
          1.431594729423523,
          1.3339565992355347,
          1.0
        ],
        "mean": [
          0.007893002592027187,
          0.006156417541205883,
          -0.012651235796511173,
          0.044022828340530396,
          -0.006256944499909878,
          0.0008240812458097935,
          0.5354728102684021
        ],
        "min": [
          -0.8124222755432129,
          -1.5256162881851196,
          -1.3261271715164185,
          -1.5094270706176758,
          -1.1642576456069946,
          -1.5382429361343384,
          0.0
        ],
        "q01": [
          -0.21564718663692475,
          -0.1514603626728058,
          -0.22897903025150299,
          -0.35904816031455994,
          -0.42090004682540894,
          -0.4364229118824005,
          0.0
        ],
        "q99": [
          0.18111340403556825,
          0.14928075134754182,
          0.21769407570362082,
          0.5984837651252747,
          0.3449516689777372,
          0.4479128789901731,
          1.0
        ],
        "std": [
          0.06850878894329071,
          0.05077695846557617,
          0.07314102351665497,
          0.15823034942150116,
          0.13044315576553345,
          0.14643286168575287,
          0.49900323152542114
        ]
      },
      "num_trajectories": 8541,
      "num_transitions": 367845,
      "proprio": {
        "max": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "mean": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "min": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "q01": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "q99": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "std": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ]
      }
    }
  }
}