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GR00T

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GR00T
File size: 3,676 Bytes
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{
  "processor_class": "Gr00tN1d7Processor",
  "processor_kwargs": {
    "modality_configs": {
      "libero_sim": {
        "video": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "observation.images.rgb.head_256_256",
            "observation.images.rgb.left_wrist_256_256"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "state": {
          "delta_indices": [
            0
          ],
          "modality_keys": [
            "x",
            "y",
            "z",
            "roll",
            "pitch",
            "yaw",
            "gripper"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": null
        },
        "action": {
          "delta_indices": [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7,
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
          ],
          "modality_keys": [
            "x",
            "y",
            "z",
            "roll",
            "pitch",
            "yaw",
            "gripper"
          ],
          "sin_cos_embedding_keys": null,
          "mean_std_embedding_keys": null,
          "action_configs": [
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "type": "NON_EEF",
              "format": "DEFAULT",
              "state_key": null
            },
            {
              "rep": "ABSOLUTE",
              "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.human.action.task_description"
          ],
          "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,
    "letter_box_transform": false,
    "model_name": "nvidia/Cosmos-Reason2-2B",
    "model_type": "qwen",
    "formalize_language": true,
    "max_state_dim": 128,
    "max_action_dim": 128,
    "max_action_horizon": 50,
    "use_percentiles": false,
    "use_mean_std": false,
    "clip_outliers": true,
    "apply_sincos_state_encoding": true,
    "use_relative_action": true,
    "exclude_state": false,
    "state_dropout_prob": 0.0
  }
}