GR00T / tests /fixtures /processor_config /processor_config.json
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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,
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],
"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
}
}