| model: | |
| _target_: gr00t.model.idm.IDM | |
| _convert_: object | |
| config: | |
| _target_: gr00t.model.idm.IDMConfig | |
| _recursive_: false | |
| model_dtype: float32 | |
| hidden_size: 0 | |
| action_horizon: 16 | |
| action_dim: 32 | |
| backbone_cfg: | |
| _target_: gr00t.model.backbone.IdentityBackbone | |
| action_head_cfg: | |
| _target_: gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM | |
| _convert_: object | |
| config: | |
| _target_: gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig | |
| _recursive_: false | |
| add_seperator_token: true | |
| add_pos_embed: true | |
| model_dtype: float32 | |
| mm_vision_select_layer: -2 | |
| max_state_dim: 44 | |
| max_action_dim: 32 | |
| hidden_size: 1024 | |
| tune_vision_tower: true | |
| add_view_embed: true | |
| max_num_views: 6 | |
| siglip_model_cfg: | |
| _target_: gr00t.model.action_head.siglip.SiglipModel.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| siglip_hidden_size: 1024 | |
| vl_self_attention_cfg: | |
| _target_: gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer | |
| positional_embeddings: null | |
| num_layers: 4 | |
| num_attention_heads: 16 | |
| attention_head_dim: 64 | |
| dropout: 0.2 | |
| final_dropout: true | |
| diffusion_model_cfg: | |
| _target_: gr00t.model.action_head.cross_attention_dit.DiT | |
| positional_embeddings: null | |
| num_layers: 8 | |
| num_attention_heads: 16 | |
| attention_head_dim: 64 | |
| norm_type: ada_norm | |
| dropout: 0.2 | |
| final_dropout: true | |
| output_dim: 1024 | |
| interleave_self_attention: true | |
| mm_projector_cfg: | |
| _target_: gr00t.model.action_head.multimodal_projector.MultimodalProjector | |
| _convert_: object | |
| config: | |
| _target_: gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig | |
| hidden_size: 1024 | |
| mm_hidden_size: 1024 | |
| mm_projector_type: mlp_doubledownsample | |
| action_dim: 32 | |
| action_horizon: 16 | |
| num_inference_timesteps: 16 | |
| noise_beta_alpha: 1.5 | |
| noise_beta_beta: 1.0 | |
| noise_s: 0.999 | |
| num_timestep_buckets: 1000 | |
| backbone_features_projector_cfg: null | |
| train_dataset: | |
| _target_: gr00t.data.dataset.lerobot_sharded.ShardedLeRobotMixtureDataset.from_mixture_spec | |
| _convert_: object | |
| mixture_spec: | |
| - dataset_path: | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CloseDoubleDoor256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CloseDrawer256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CloseSingleDoor256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CoffeePressButton256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CoffeeServeMug256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.CoffeeSetupMug256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.OpenDoubleDoor256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.OpenDrawer256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.OpenSingleDoor256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPCabToCounter256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPCounterToCab256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPCounterToMicrowave256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPCounterToSink256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPCounterToStove256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPMicrowaveToCounter256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPSinkToCounter256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.PnPStoveToCounter256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOffMicrowave256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOffSinkFaucet256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOffStove256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOnMicrowave256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOnSinkFaucet256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnOnStove256_300 | |
| - /mnt/amlfs-02/shared/datasets/posttrain/24P/robocasa_panda_omron.TurnSinkSpout256_300 | |
| dataset_weight: 1.0 | |
| dataset_class: gr00t.data.dataset.lerobot_sharded.ShardedLeRobotSingleDataset | |
| all_modality_configs: | |
| robocasa_gr1_arms_only_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_gr1_arms_waist_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_gr1_fixed_lower_body_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_bimanual_panda_parallel_gripper: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_bimanual_panda_inspire_hand: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_panda_omron: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| gr1_unified: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.coarse_action | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_droid: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_fractal: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_pad_res256_freq03 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.natural_language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_language_table: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.rgb_pad_res256_freq10 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.effector_translation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.action | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_bridge: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| agibot: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.agibot.task_description | |
| all_transforms: | |
| robocasa_gr1_arms_only_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_gr1_arms_waist_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| state.neck: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| action.neck: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_bimanual_panda_parallel_gripper: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_gripper_qpos: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_gripper_qpos: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| normalization_modes: | |
| action.right_gripper_close: binary | |
| action.left_gripper_close: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_bimanual_panda_inspire_hand: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_hand: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_hand: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| normalization_modes: | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_panda_omron: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| normalization_modes: | |
| state.end_effector_position_relative: min_max | |
| state.end_effector_rotation_relative: min_max | |
| state.gripper_qpos: min_max | |
| state.base_position: min_max | |
| state.base_rotation: min_max | |
| target_rotations: | |
| state.end_effector_rotation_relative: rotation_6d | |
| state.base_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| normalization_modes: | |
| action.end_effector_position: min_max | |
| action.end_effector_rotation: min_max | |
| action.gripper_close: binary | |
| action.base_motion: min_max | |
| action.control_mode: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state_concat_order: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action_concat_order: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| gr1_unified: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: scale | |
| state.right_arm: scale | |
| state.left_hand: scale | |
| state.right_hand: scale | |
| state.waist: scale | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.left_arm: scale | |
| action.right_arm: scale | |
| action.left_hand: scale | |
| action.right_hand: scale | |
| action.waist: scale | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_droid: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_position: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action_concat_order: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_fractal: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closedness_commanded: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_pad_res256_freq03 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action_concat_order: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_language_table: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.effector_translation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.effector_translation | |
| normalization_modes: | |
| state.effector_translation: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.action | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.action | |
| normalization_modes: | |
| action.action: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.rgb_pad_res256_freq10 | |
| state_concat_order: | |
| - state.effector_translation | |
| action_concat_order: | |
| - action.action | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_bridge: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closed: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action_concat_order: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| agibot: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| normalization_modes: | |
| state.left_arm_joint_position: min_max | |
| state.right_arm_joint_position: min_max | |
| state.left_effector_position: min_max | |
| state.right_effector_position: min_max | |
| state.head_position: min_max | |
| state.waist_position: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| normalization_modes: | |
| action.left_arm_joint_position: min_max | |
| action.right_arm_joint_position: min_max | |
| action.left_effector_position: min_max | |
| action.right_effector_position: min_max | |
| action.head_position: min_max | |
| action.waist_position: min_max | |
| action.robot_velocity: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state_concat_order: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action_concat_order: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| metadata_versions: | |
| robocasa_gr1_arms_only_fourier_hands: '0217' | |
| robocasa_gr1_fixed_lower_body_fourier_hands: '0217' | |
| robocasa_bimanual_panda_parallel_gripper: '0217' | |
| robocasa_bimanual_panda_inspire_hand: '0217' | |
| robocasa_panda_omron: '0217' | |
| gr1_unified: '0225' | |
| oxe_droid: '0221' | |
| oxe_fractal: '0221' | |
| oxe_language_table: '0221' | |
| oxe_bridge: '0221' | |
| robocasa_gr1_arms_waist_fourier_hands: '0225' | |
| agibot: '0225' | |
| dataset_kwargs: | |
| video_backend: decord | |
| mixture_kwargs: | |
| training: true | |
| balance_dataset_weights: true | |
| seed: 42 | |
| trainer: | |
| _target_: gr00t.experiment.dual_brain.experiment.DualBrainTrainer | |
| _partial_: true | |
| _recursive_: false | |
| callbacks: null | |
| model: ??? | |
| train_dataset: ??? | |
| compute_dtype: ??? | |
| benchmark_time: false | |
| enable_profiling: false | |
| profiling_steps: 5 | |
| wandb_project: dream_idm | |
| output_dir: /mnt/amlfs-01/home/seonghyeony/checkpoints/gr00t_s_idm_24P_300 | |
| load_from_yaml: null | |
| gear_credentials: /mnt/amlfs-01/home/seonghyeony/.gear/data_credentials | |
| upload_checkpoints: false | |
| upload_every: 10000 | |
| upload_last_n_checkpoints: 5 | |
| remove_unused_columns: false | |
| bf16: true | |
| tf32: true | |
| global_batch_size: 1024 | |
| raise_error_if_global_batch_size_not_set: true | |
| per_device_train_batch_size: 32 | |
| per_device_eval_batch_size: 64 | |
| gradient_accumulation_steps: 1 | |
| dataloader_num_workers: 6 | |
| dataloader_pin_memory: false | |
| dataloader_persistent_workers: true | |
| optim: adamw_torch | |
| learning_rate: 0.0001 | |
| adam_beta1: 0.95 | |
| adam_beta2: 0.999 | |
| adam_epsilon: 1.0e-08 | |
| weight_decay: 1.0e-05 | |
| lr_scheduler_type: cosine | |
| warmup_ratio: 0.05 | |
| logging_steps: 10.0 | |
| num_train_epochs: 1000 | |
| max_steps: 60000 | |
| save_strategy: steps | |
| save_steps: 1000 | |
| eval_strategy: 'no' | |
| save_total_limit: 20 | |
| report_to: wandb | |
| seed: 42 | |
| do_eval: false | |
| gradient_checkpointing: false | |
| ddp_find_unused_parameters: false | |
| ddp_bucket_cap_mb: 100 | |
| ray_num_workers: 32 | |
| eval_bf16: true | |
| torch_compile_mode: null | |
| pretrained_model_path: null | |
| only_tune_projectors: false | |
| training_args: | |
| _target_: transformers.TrainingArguments | |
| output_dir: /mnt/amlfs-01/home/seonghyeony/checkpoints/gr00t_s_idm_24P_300 | |
| run_name: gr00t_s_idm_24P_300 | |
| remove_unused_columns: false | |
| deepspeed: gr00t/gr00t/experiment/dual_brain/configs/deepspeed/zero2.json | |
| gradient_checkpointing: false | |
| bf16: true | |
| tf32: true | |
| per_device_train_batch_size: 32 | |
| per_device_eval_batch_size: 64 | |
| gradient_accumulation_steps: 1 | |
| dataloader_num_workers: 6 | |
| dataloader_pin_memory: false | |
| dataloader_persistent_workers: true | |
| optim: adamw_torch | |
| adam_beta1: 0.95 | |
| adam_beta2: 0.999 | |
| adam_epsilon: 1.0e-08 | |
| learning_rate: 0.0001 | |
| weight_decay: 1.0e-05 | |
| warmup_ratio: 0.05 | |
| lr_scheduler_type: cosine | |
| logging_steps: 10.0 | |
| num_train_epochs: 1000 | |
| max_steps: 60000 | |
| save_strategy: steps | |
| save_steps: 1000 | |
| save_total_limit: 20 | |
| report_to: wandb | |
| seed: 42 | |
| do_eval: false | |
| ddp_find_unused_parameters: false | |
| ddp_bucket_cap_mb: 100 | |
| torch_compile_mode: null | |
| add_seperator_token: true | |
| add_pos_embed: true | |
| hidden_size: 1024 | |
| attn_dropout: 0.2 | |
| siglip_hidden_size: 1024 | |
| siglip_version: google/siglip2-large-patch16-256 | |
| action_head_cfg: | |
| _target_: gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDM | |
| _convert_: object | |
| config: | |
| _target_: gr00t.model.action_head.flow_matching_action_head_idm.FlowMatchingActionHeadIDMConfig | |
| _recursive_: false | |
| add_seperator_token: true | |
| add_pos_embed: true | |
| model_dtype: float32 | |
| mm_vision_select_layer: -2 | |
| max_state_dim: 44 | |
| max_action_dim: 32 | |
| hidden_size: 1024 | |
| tune_vision_tower: true | |
| add_view_embed: true | |
| max_num_views: 6 | |
| siglip_model_cfg: | |
| _target_: gr00t.model.action_head.siglip.SiglipModel.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| siglip_hidden_size: 1024 | |
| vl_self_attention_cfg: | |
| _target_: gr00t.model.action_head.cross_attention_dit.SelfAttentionTransformer | |
| positional_embeddings: null | |
| num_layers: 4 | |
| num_attention_heads: 16 | |
| attention_head_dim: 64 | |
| dropout: 0.2 | |
| final_dropout: true | |
| diffusion_model_cfg: | |
| _target_: gr00t.model.action_head.cross_attention_dit.DiT | |
| positional_embeddings: null | |
| num_layers: 8 | |
| num_attention_heads: 16 | |
| attention_head_dim: 64 | |
| norm_type: ada_norm | |
| dropout: 0.2 | |
| final_dropout: true | |
| output_dim: 1024 | |
| interleave_self_attention: true | |
| mm_projector_cfg: | |
| _target_: gr00t.model.action_head.multimodal_projector.MultimodalProjector | |
| _convert_: object | |
| config: | |
| _target_: gr00t.model.action_head.multimodal_projector.MultimodalProjectorConfig | |
| hidden_size: 1024 | |
| mm_hidden_size: 1024 | |
| mm_projector_type: mlp_doubledownsample | |
| action_dim: 32 | |
| action_horizon: 16 | |
| num_inference_timesteps: 16 | |
| noise_beta_alpha: 1.5 | |
| noise_beta_beta: 1.0 | |
| noise_s: 0.999 | |
| num_timestep_buckets: 1000 | |
| backbone_features_projector_cfg: null | |
| backbone_hidden_size: 0 | |
| backbone_cfg: | |
| _target_: gr00t.model.backbone.IdentityBackbone | |
| embodiment_tag_to_projector_index: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| num_visual_tokens_per_frame: 16 | |
| max_action_dim: 32 | |
| language_dropout_prob: 0.0 | |
| model_image_resolution: 224 | |
| max_sequence_length: 112 | |
| model_specific_transform: | |
| _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| data_collator: | |
| _target_: gr00t.model.transforms_idm.DefaultDataCollatorGR00TIDM | |
| action_horizon: 16 | |
| totensor_cfg: | |
| _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: ??? | |
| crop_cfg: | |
| _target_: gr00t.data.transform.VideoCrop | |
| apply_to: ??? | |
| scale: 0.95 | |
| mode: random | |
| resize_cfg: | |
| _target_: gr00t.data.transform.VideoResize | |
| apply_to: ??? | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| color_jitter_cfg: | |
| _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: ??? | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| to_numpy_cfg: | |
| _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: ??? | |
| modality_config_robocasa_gr1_arms_only_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_gr1_arms_only_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_robocasa_gr1_arms_waist_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_gr1_arms_waist_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_robocasa_panda_omron: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_panda_omron: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| normalization_modes: | |
| state.end_effector_position_relative: min_max | |
| state.end_effector_rotation_relative: min_max | |
| state.gripper_qpos: min_max | |
| state.base_position: min_max | |
| state.base_rotation: min_max | |
| target_rotations: | |
| state.end_effector_rotation_relative: rotation_6d | |
| state.base_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| normalization_modes: | |
| action.end_effector_position: min_max | |
| action.end_effector_rotation: min_max | |
| action.gripper_close: binary | |
| action.base_motion: min_max | |
| action.control_mode: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state_concat_order: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action_concat_order: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_robocasa_gr1_fixed_lower_body_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_gr1_fixed_lower_body_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| state.neck: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| action.neck: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_robocasa_bimanual_panda_parallel_gripper: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_bimanual_panda_parallel_gripper: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_gripper_qpos: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_gripper_qpos: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| normalization_modes: | |
| action.right_gripper_close: binary | |
| action.left_gripper_close: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_robocasa_bimanual_panda_inspire_hand: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_robocasa_bimanual_panda_inspire_hand: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_hand: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_hand: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| normalization_modes: | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_gr1_unified: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.coarse_action | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_gr1_unified: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: scale | |
| state.right_arm: scale | |
| state.left_hand: scale | |
| state.right_hand: scale | |
| state.waist: scale | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.left_arm: scale | |
| action.right_arm: scale | |
| action.left_hand: scale | |
| action.right_hand: scale | |
| action.waist: scale | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_oxe_droid: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_oxe_droid: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_position: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action_concat_order: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_oxe_fractal: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_pad_res256_freq03 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.natural_language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_oxe_fractal: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closedness_commanded: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_pad_res256_freq03 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action_concat_order: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_oxe_language_table: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.rgb_pad_res256_freq10 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.effector_translation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.action | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_oxe_language_table: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.effector_translation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.effector_translation | |
| normalization_modes: | |
| state.effector_translation: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.action | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.action | |
| normalization_modes: | |
| action.action: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.rgb_pad_res256_freq10 | |
| state_concat_order: | |
| - state.effector_translation | |
| action_concat_order: | |
| - action.action | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_oxe_bridge: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| transform_oxe_bridge: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closed: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action_concat_order: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_config_agibot: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.agibot.task_description | |
| transform_agibot: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| normalization_modes: | |
| state.left_arm_joint_position: min_max | |
| state.right_arm_joint_position: min_max | |
| state.left_effector_position: min_max | |
| state.right_effector_position: min_max | |
| state.head_position: min_max | |
| state.waist_position: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| normalization_modes: | |
| action.left_arm_joint_position: min_max | |
| action.right_arm_joint_position: min_max | |
| action.left_effector_position: min_max | |
| action.right_effector_position: min_max | |
| action.head_position: min_max | |
| action.waist_position: min_max | |
| action.robot_velocity: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state_concat_order: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action_concat_order: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| modality_configs: | |
| robocasa_gr1_arms_only_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_gr1_arms_waist_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_gr1_fixed_lower_body_fourier_hands: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_bimanual_panda_parallel_gripper: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_bimanual_panda_inspire_hand: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| robocasa_panda_omron: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.action.task_description | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| gr1_unified: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.ego_view_pad_res256_freq20 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.human.coarse_action | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_droid: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_fractal: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_pad_res256_freq03 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.natural_language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_language_table: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.rgb_pad_res256_freq10 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.effector_translation | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.action | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| oxe_bridge: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.language.language_instruction | |
| lapa_action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - lapa_action | |
| agibot: | |
| video: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 16 | |
| modality_keys: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| - 1 | |
| - 2 | |
| - 3 | |
| - 4 | |
| - 5 | |
| - 6 | |
| - 7 | |
| - 8 | |
| - 9 | |
| - 10 | |
| - 11 | |
| - 12 | |
| - 13 | |
| - 14 | |
| - 15 | |
| modality_keys: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| language: | |
| _target_: gr00t.data.dataset.ModalityConfig | |
| delta_indices: | |
| - 0 | |
| modality_keys: | |
| - annotation.agibot.task_description | |
| transforms: | |
| robocasa_gr1_arms_only_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_gr1_arms_waist_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| normalization_modes: | |
| state.left_arm: min_max | |
| state.right_arm: min_max | |
| state.left_hand: min_max | |
| state.right_hand: min_max | |
| state.waist: min_max | |
| state.neck: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| normalization_modes: | |
| action.right_arm: min_max | |
| action.left_arm: min_max | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| action.waist: min_max | |
| action.neck: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - state.neck | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - action.neck | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_bimanual_panda_parallel_gripper: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_gripper_qpos: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_gripper_qpos: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| normalization_modes: | |
| action.right_gripper_close: binary | |
| action.left_gripper_close: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_gripper_qpos | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_gripper_qpos | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_gripper_close | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_gripper_close | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_bimanual_panda_inspire_hand: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| normalization_modes: | |
| state.right_arm_eef_pos: min_max | |
| state.right_hand: min_max | |
| state.left_arm_eef_pos: min_max | |
| state.left_hand: min_max | |
| target_rotations: | |
| state.right_arm_eef_quat: rotation_6d | |
| state.left_arm_eef_quat: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| normalization_modes: | |
| action.right_hand: min_max | |
| action.left_hand: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.robot0_eye_in_hand_pad_res256_freq20 | |
| - video.robot1_eye_in_hand_pad_res256_freq20 | |
| - video.agentview_pad_res256_freq20 | |
| state_concat_order: | |
| - state.right_arm_eef_pos | |
| - state.right_arm_eef_quat | |
| - state.right_hand | |
| - state.left_arm_eef_pos | |
| - state.left_arm_eef_quat | |
| - state.left_hand | |
| action_concat_order: | |
| - action.right_arm_eef_pos | |
| - action.right_arm_eef_rot | |
| - action.right_hand | |
| - action.left_arm_eef_pos | |
| - action.left_arm_eef_rot | |
| - action.left_hand | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| robocasa_panda_omron: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| normalization_modes: | |
| state.end_effector_position_relative: min_max | |
| state.end_effector_rotation_relative: min_max | |
| state.gripper_qpos: min_max | |
| state.base_position: min_max | |
| state.base_rotation: min_max | |
| target_rotations: | |
| state.end_effector_rotation_relative: rotation_6d | |
| state.base_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| normalization_modes: | |
| action.end_effector_position: min_max | |
| action.end_effector_rotation: min_max | |
| action.gripper_close: binary | |
| action.base_motion: min_max | |
| action.control_mode: binary | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.left_view | |
| - video.right_view | |
| - video.wrist_view | |
| state_concat_order: | |
| - state.end_effector_position_relative | |
| - state.end_effector_rotation_relative | |
| - state.gripper_qpos | |
| - state.base_position | |
| - state.base_rotation | |
| action_concat_order: | |
| - action.end_effector_position | |
| - action.end_effector_rotation | |
| - action.gripper_close | |
| - action.base_motion | |
| - action.control_mode | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| gr1_unified: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.ego_view_pad_res256_freq20 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| normalization_modes: | |
| state.left_arm: scale | |
| state.right_arm: scale | |
| state.left_hand: scale | |
| state.right_hand: scale | |
| state.waist: scale | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| normalization_modes: | |
| action.left_arm: scale | |
| action.right_arm: scale | |
| action.left_hand: scale | |
| action.right_hand: scale | |
| action.waist: scale | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.ego_view_pad_res256_freq20 | |
| state_concat_order: | |
| - state.left_arm | |
| - state.right_arm | |
| - state.left_hand | |
| - state.right_hand | |
| - state.waist | |
| action_concat_order: | |
| - action.left_arm | |
| - action.right_arm | |
| - action.left_hand | |
| - action.right_hand | |
| - action.waist | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_droid: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_position: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.exterior_image_1_left_pad_res256_freq15 | |
| - video.exterior_image_2_left_pad_res256_freq15 | |
| - video.wrist_image_left_pad_res256_freq15 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_position | |
| action_concat_order: | |
| - action.eef_position_delta | |
| - action.eef_rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_fractal: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_pad_res256_freq03 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closedness_commanded: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.rotation_delta: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_pad_res256_freq03 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closedness_commanded | |
| action_concat_order: | |
| - action.world_vector | |
| - action.rotation_delta | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_language_table: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.rgb_pad_res256_freq10 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.effector_translation | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.effector_translation | |
| normalization_modes: | |
| state.effector_translation: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.action | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.action | |
| normalization_modes: | |
| action.action: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.rgb_pad_res256_freq10 | |
| state_concat_order: | |
| - state.effector_translation | |
| action_concat_order: | |
| - action.action | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| oxe_bridge: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| normalization_modes: | |
| state.eef_position: min_max | |
| state.gripper_closed: min_max | |
| target_rotations: | |
| state.eef_rotation: rotation_6d | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| normalization_modes: | |
| action.gripper_position: binary | |
| target_rotations: | |
| action.eef_rotation: axis_angle | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.image_0 | |
| - video.image_1 | |
| - video.image_2 | |
| state_concat_order: | |
| - state.eef_position | |
| - state.eef_rotation | |
| - state.gripper_closed | |
| action_concat_order: | |
| - action.eef_position | |
| - action.eef_rotation | |
| - action.gripper_position | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| agibot: | |
| _target_: gr00t.data.transform.ComposedModalityTransform | |
| transforms: | |
| - _target_: gr00t.data.transform.VideoToTensor | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.VideoCrop | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| scale: 0.95 | |
| mode: random | |
| - _target_: gr00t.data.transform.VideoResize | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| height: 224 | |
| width: 224 | |
| interpolation: linear | |
| - _target_: gr00t.data.transform.VideoColorJitter | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| brightness: 0.3 | |
| contrast: 0.4 | |
| saturation: 0.5 | |
| hue: 0.08 | |
| - _target_: gr00t.data.transform.VideoToNumpy | |
| apply_to: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| normalization_modes: | |
| state.left_arm_joint_position: min_max | |
| state.right_arm_joint_position: min_max | |
| state.left_effector_position: min_max | |
| state.right_effector_position: min_max | |
| state.head_position: min_max | |
| state.waist_position: min_max | |
| - _target_: gr00t.data.transform.StateActionToTensor | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.data.transform.StateActionTransform | |
| apply_to: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| normalization_modes: | |
| action.left_arm_joint_position: min_max | |
| action.right_arm_joint_position: min_max | |
| action.left_effector_position: min_max | |
| action.right_effector_position: min_max | |
| action.head_position: min_max | |
| action.waist_position: min_max | |
| action.robot_velocity: min_max | |
| - _target_: gr00t.data.transform.ConcatTransform | |
| video_concat_order: | |
| - video.top_head | |
| - video.hand_left | |
| - video.hand_right | |
| state_concat_order: | |
| - state.left_arm_joint_position | |
| - state.right_arm_joint_position | |
| - state.left_effector_position | |
| - state.right_effector_position | |
| - state.head_position | |
| - state.waist_position | |
| action_concat_order: | |
| - action.left_arm_joint_position | |
| - action.right_arm_joint_position | |
| - action.left_effector_position | |
| - action.right_effector_position | |
| - action.head_position | |
| - action.waist_position | |
| - action.robot_velocity | |
| - _target_: gr00t.model.transforms_idm.GR00TIDMTransform | |
| default_instruction: Perform the default behavior. | |
| num_visual_tokens_per_frame: 16 | |
| max_num_images_per_sequence: 6 | |
| max_action_dim: 32 | |
| max_sequence_length: 112 | |
| action_horizon: 16 | |
| siglip_processor: | |
| _target_: gr00t.model.action_head.siglip.SiglipProcessor.from_pretrained | |
| _convert_: object | |
| pretrained_model_name_or_path: google/siglip2-large-patch16-256 | |
| embodiment_tag_mapping: | |
| real_gr1_arms_only: 0 | |
| real_gr1_arms_only_annotated: 1 | |
| real_gr1_arms_waist: 2 | |
| real_gr1_arms_waist_annotated: 3 | |
| dexmg_gr1_arms_only_inspire: 4 | |
| dexmg_gr1_arms_only_fourier: 5 | |
| dexmg_gr1_arms_waist_fourier: 6 | |
| robocasa_single_arm: 7 | |
| onex_eve_gripper: 8 | |
| robocasa_gr1_arms_only_inspire_hands: 9 | |
| robocasa_gr1_arms_only_fourier_hands: 10 | |
| robocasa_gr1_fixed_lower_body_inspire_hands: 11 | |
| robocasa_gr1_fixed_lower_body_fourier_hands: 12 | |
| robocasa_panda_omron: 13 | |
| robocasa_single_arm_panda_omron: 14 | |
| robocasa_bimanual_panda_parallel_gripper: 15 | |
| robocasa_bimanual_panda_inspire_hand: 16 | |
| oxe_droid: 17 | |
| oxe_fractal: 18 | |
| oxe_language_table: 19 | |
| oxe_bridge: 20 | |
| real_panda_single_arm: 21 | |
| unknown: 22 | |
| hot3d_hands_only: 23 | |
| gr1_unified: 24 | |
| robocasa_gr1_arms_waist_fourier_hands: 25 | |
| agibot: 26 | |
| lapa: 27 | |
| oxe_mutex: 28 | |
| oxe_roboset: 29 | |
| oxe_plex: 30 | |
| dream: 31 | |
| metadata_versions: | |
| robocasa_gr1_arms_only_fourier_hands: '0217' | |
| robocasa_gr1_fixed_lower_body_fourier_hands: '0217' | |
| robocasa_bimanual_panda_parallel_gripper: '0217' | |
| robocasa_bimanual_panda_inspire_hand: '0217' | |
| robocasa_panda_omron: '0217' | |
| gr1_unified: '0225' | |
| oxe_droid: '0221' | |
| oxe_fractal: '0221' | |
| oxe_language_table: '0221' | |
| oxe_bridge: '0221' | |
| robocasa_gr1_arms_waist_fourier_hands: '0225' | |
| agibot: '0225' | |
| dataset_path: ??? | |
| max_state_dim: 44 | |
| mixture_dataset_cls: gr00t.data.dataset.lerobot_sharded.ShardedLeRobotMixtureDataset.from_mixture_spec | |
| single_dataset_cls: gr00t.data.dataset.lerobot_sharded.ShardedLeRobotSingleDataset | |
| data_root: /mnt/amlfs-02/shared/datasets | |
| gr00t_commit_hash: 16d97a65f0541e14efa958455542c5ae3ad9607f | |
| total_training_steps: 163840000000 | |