gr00t-4 / experiment_cfg /metadata.json
willnorris's picture
Add trained GR00T policy — 2025-05-19T08:20:36.118106
48f0704
{
"new_embodiment": {
"statistics": {
"state": {
"single_arm": {
"max": [
50.09765625,
86.8359375,
90.439453125,
80.15625,
21.005859375
],
"min": [
-27.7734375,
-98.349609375,
-75.5859375,
-34.013671875,
-9.4921875
],
"mean": [
1.2688713073730469,
-29.948328018188477,
47.12052536010742,
34.748233795166016,
7.337850570678711
],
"std": [
20.025409698486328,
44.50356674194336,
31.859237670898438,
25.341203689575195,
5.396989822387695
],
"q01": [
-27.158203125,
-98.26171875,
-37.6171875,
-16.69921875,
-4.306640625
],
"q99": [
45.703125,
59.501953125,
90.439453125,
77.783203125,
18.544921875
]
},
"gripper": {
"max": [
57.12890625
],
"min": [
-0.17578125
],
"mean": [
23.515682220458984
],
"std": [
15.777379989624023
],
"q01": [
-0.17578125
],
"q99": [
54.4921875
]
}
},
"action": {
"single_arm": {
"max": [
50.888671875,
83.3203125,
92.197265625,
80.33203125,
21.4453125
],
"min": [
-28.037109375,
-98.876953125,
-84.55078125,
-36.2109375,
-9.140625
],
"mean": [
1.3174431324005127,
-32.38520431518555,
43.428009033203125,
33.60067367553711,
7.2843017578125
],
"std": [
19.972745895385742,
43.20457458496094,
33.67258834838867,
25.936344146728516,
5.434234619140625
],
"q01": [
-27.333984375,
-98.876953125,
-44.736328125,
-18.896484375,
-4.482421875
],
"q99": [
46.23046875,
55.458984375,
92.197265625,
77.958984375,
18.544921875
]
},
"gripper": {
"max": [
57.392578125
],
"min": [
-0.52734375
],
"mean": [
21.392284393310547
],
"std": [
16.467666625976562
],
"q01": [
-0.52734375
],
"q99": [
54.580078125
]
}
}
},
"modalities": {
"video": {
"cam1": {
"resolution": [
640,
480
],
"channels": 3,
"fps": 30.0
},
"cam2": {
"resolution": [
640,
480
],
"channels": 3,
"fps": 30.0
}
},
"state": {
"single_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
5
],
"continuous": true
},
"gripper": {
"absolute": true,
"rotation_type": null,
"shape": [
1
],
"continuous": true
}
},
"action": {
"single_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
5
],
"continuous": true
},
"gripper": {
"absolute": true,
"rotation_type": null,
"shape": [
1
],
"continuous": true
}
}
},
"embodiment_tag": "new_embodiment"
}
}