| action_dim: 20 |
| action_fields: |
| - robot__action__poses__left::panda__xyz_relative |
| - robot__action__poses__right::panda__xyz_relative |
| - robot__action__poses__left::panda__rot_6d_relative |
| - robot__action__poses__right::panda__rot_6d_relative |
| - robot__action__grippers__left::panda_hand |
| - robot__action__grippers__right::panda_hand |
| allow_multiple_epochs: true |
| augmentation: |
| enabled: true |
| image: |
| color_jitter: |
| brightness: 0.2 |
| contrast: 0.4 |
| enabled: true |
| hue: |
| - -0.05 |
| - 0.05 |
| saturation: 0.2 |
| crop: |
| enabled: true |
| mode: random |
| shape: |
| - 224 |
| - 224 |
| point_cloud: |
| color_jitter: |
| brightness: 0.2 |
| contrast: 0.4 |
| enabled: false |
| hue: |
| - -0.05 |
| - 0.05 |
| saturation: 0.2 |
| camera_names: |
| - scene_right_0 |
| - scene_left_0 |
| - wrist_left_plus |
| - wrist_right_minus |
| dataloader_in_order: false |
| dataset_cache: |
| cache_dir: null |
| cache_size_gb: null |
| cache_verbose: null |
| enabled: false |
| dataset_manifest: |
| - null |
| dataset_modality: |
| - robotics |
| dataset_statistics: |
| - null |
| dataset_weighting: |
| - 1.0 |
| extrinsics_fields: |
| - extrinsics.scene_right_0 |
| - extrinsics.scene_left_0 |
| - extrinsics.wrist_left_minus |
| - extrinsics.wrist_left_plus |
| - extrinsics.wrist_right_minus |
| - extrinsics.wrist_right_plus |
| hf_fast_tokenizer_rayon_threads: 16 |
| hf_fast_tokenizers_parallelism: true |
| image_indices: |
| - -1 |
| - 0 |
| image_names: |
| - scene_right_0_t-1 |
| - scene_left_0_t-1 |
| - wrist_left_plus_t-1 |
| - wrist_right_minus_t-1 |
| - scene_right_0_t0 |
| - scene_left_0_t0 |
| - wrist_left_plus_t0 |
| - wrist_right_minus_t0 |
| image_size: 224 |
| img_num_tokens: 64 |
| intrinsics_fields: |
| - intrinsics.scene_right_0 |
| - intrinsics.scene_left_0 |
| - intrinsics.wrist_left_minus |
| - intrinsics.wrist_left_plus |
| - intrinsics.wrist_right_minus |
| - intrinsics.wrist_right_plus |
| language_instruction_types: |
| - original |
| - randomized |
| - verbose |
| - alternative |
| lowdim_future_timesteps: 8 |
| lowdim_past_timesteps: 1 |
| mask_padded_images: true |
| max_text_seq_len: null |
| normalization: |
| centered_norm: true |
| enabled: true |
| epsilon: 0.01 |
| field_configs: |
| robot__action__grippers__left::panda_hand: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| robot__action__grippers__right::panda_hand: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| robot__action__poses__left::panda__rot_6d_relative: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| robot__action__poses__left::panda__xyz_relative: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| robot__action__poses__right::panda__rot_6d_relative: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| robot__action__poses__right::panda__xyz_relative: |
| enabled: true |
| epsilon: 0.01 |
| method: percentile_1_99 |
| scope: per_timestep |
| include_fields: |
| - robot__action__poses__left::panda__xyz_relative |
| - robot__action__poses__right::panda__xyz_relative |
| - robot__action__poses__left::panda__rot_6d_relative |
| - robot__action__poses__right::panda__rot_6d_relative |
| - robot__action__grippers__left::panda_hand |
| - robot__action__grippers__right::panda_hand |
| lowdim_future_timesteps: 19 |
| lowdim_past_timesteps: 5 |
| method: percentile_1_99 |
| scope: per_timestep |
| num_workers: 8 |
| pad_missing_images: true |
| point_cloud_num_points: 4096 |
| pose_groups: |
| - name: left_panda_action |
| position_key: robot__action__poses__left::panda__xyz |
| rotation_key: robot__action__poses__left::panda__rot_6d |
| - name: right_panda_action |
| position_key: robot__action__poses__right::panda__xyz |
| rotation_key: robot__action__poses__right::panda__rot_6d |
| prefetch_factor: 2 |
| processor: HuggingFaceTB/SmolVLM2-256M-Video-Instruct |
| processor_kwargs: |
| max_image_size: |
| longest_edge: 224 |
| size: |
| longest_edge: 224 |
| proprioception_dim: 0 |
| proprioception_fields: [] |
| seed: 42 |
| seq_len: 2048 |
| shuffle: true |
| shuffle_buffer_size: 2000 |
| shuffle_initial: 500 |
| tactile_fields: [] |
| type: robotics |
| use_hf_fast_tokenizer: true |
| use_point_cloud: false |
| val_dataset_manifest: [] |
| val_dataset_statistics: [] |
| val_dataset_weighting: [] |
|
|
