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tiny-fm-dinov3-21m / model_args.yaml
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 action_head_args:
action_head_type: LINEAR
action_time_encoder_args:
action_time_encoder_type: EARLY_FUSE
action_token_id: 1000000
adapter_args:
adapter:
activation_class: GELU
adapter_type: FFN
hidden_dim: output_dim
use_biases: true
use_gating: false
image_adapter_type: SIMPLE
decoder_args:
activation_class: SILU
checkpoint: false
dim: 256
dropout: 0.0
head_dim: 32
hidden_dim: 768
n_heads: 16
n_kv_heads: 8
n_layers: 4
norm_args:
attention_norm: true
ffn_norm: true
norm_instance:
norm_class: RMS
norm_eps: 1.0e-05
post_attention_norm: false
post_ffn_norm: false
qk_norm: false
pos_embed: ROPE_1D
rope_freqs_split: null
rope_theta: 1000000.0
total_parameter_count: 3147776
use_attn_wk_biases: false
use_attn_wo_biases: false
use_attn_wq_biases: false
use_attn_wv_biases: false
use_ffn_biases: false
use_ffn_gating: false
hardware_action_dims:
FRANKA_LIBERO: 7
GOOGLEROBOT_RT1: 7
MARVIN_REAL: 16
PIPER_COTRAINING_CUP_PNP: 7
PIPER_GS_CLOSE_REAL_LOOP: 7
PIPER_GS_CLOSE_SIM_LOOP: 7
hardware_action_horizons:
FRANKA_LIBERO: 10
GOOGLEROBOT_RT1: 4
MARVIN_REAL: 16
PIPER_COTRAINING_CUP_PNP: 16
PIPER_GS_CLOSE_REAL_LOOP: 16
PIPER_GS_CLOSE_SIM_LOOP: 5
image_encoder_args:
image_pooling_args:
pooling_type: NONE
max_image_size: 224
num_register_tokens: 4
output_norm: true
patch_norm: false
patch_size: 16
total_parameter_count: 21586944
transformer_args:
activation_class: GELU
checkpoint: false
dim: 384
dropout: 0.0
head_dim: 64
hidden_dim: 1536
n_heads: 6
n_kv_heads: 6
n_layers: 12
norm_args:
attention_norm: true
ffn_norm: true
norm_instance:
norm_class: LN
norm_eps: 1.0e-05
post_attention_norm: false
post_ffn_norm: false
qk_norm: false
pos_embed: ROPE_2D_DINO
rope_freqs_split: null
rope_theta: 100.0
total_parameter_count: null
use_attn_wk_biases: false
use_attn_wo_biases: true
use_attn_wq_biases: true
use_attn_wv_biases: true
use_ffn_biases: true
use_ffn_gating: false
use_cls_token: true
use_patch_conv_biases: true
image_token_id: 262144
img_encoding_tokens:
- 262144
- 255999
- 256000
model_parallel: 1
model_type: vla_flow_matching
processor_args:
action_tokenizer_args:
fault_tolerant_decoding: true
max_action: 2.0
min_action: -2.0
n_bins: null
tokenizer_type: CONTINUOUS
hardware_processor_args:
FRANKA_LIBERO:
action_space:
format: default
horizon: 10
names: null
tensors:
action:
dtype: float32
high: .inf
low: -.inf
names:
- action_{i}
- action_{i}
- action_{i}
- action_{i}
- action_{i}
- action_{i}
- action_{i}
tensor_decoder:
id: LiberoAction.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO4/AAAAAAAA7j8AAAAAAADuPwAAAOAFxNY/AAAAAAAA2D8AAAAAAADYPwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIDoVfuNzErA/fg6uBzM7tj+6fG5WsCK3v/hkJ+sUuEE/y706MIMddz+d2v9xG2t1v7uhTTiCaqm/
min:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO6/AAAAAAAA7r8AAAAAAADuvwAAAECVhtC/AAAAAAAA2L8AAADAHoXXvwAAAAAAAPC/
std:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gID61+XE4edU/R7zQtXk42D8OMzLxbnbcP4PD/LW6F6Q/DQt/c4U6sD8uF2Au3PWzP8wXQYjm9e8/
observation.state:
max:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCw68o/AAAA4NQK2T8AAADgLdv1PwAAAGAUXw1AAAAAYDZ8DEAAAABgci72PwAAAACMraU/AAAAoBpWVj8=
mean:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIBNme1VP0ae/GQwTsRCeoT9+Wp/PNnfoP0o858UVxwdAPv83m1o4zL9NbNdi/BLAvxfFWPZoj5s/rKiMmebXm78=
min:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCH5t6/AAAAQBHV1L8AAADggaWAPwAAAADVk9Y/AAAAQKYhDcAAAABA23v9vwAAAOCNQla/AAAAQGCGpb8=
std:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIHpiAWeb3bo/tHB6GhNtwz9rUe4jnjnYP0P+b3mTCNY/jjhbZ7UF7T86wtSNONPUPy7+dppBCI0/kcnB2ejKjD8=
norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO4/AAAAAAAA7j8AAAAAAADuPwAAAOAFxNY/AAAAAAAA2D8AAAAAAADYPwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIDoVfuNzErA/fg6uBzM7tj+6fG5WsCK3v/hkJ+sUuEE/y706MIMddz+d2v9xG2t1v7uhTTiCaqm/
min:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO6/AAAAAAAA7r8AAAAAAADuvwAAAECVhtC/AAAAAAAA2L8AAADAHoXXvwAAAAAAAPC/
std:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gID61+XE4edU/R7zQtXk42D8OMzLxbnbcP4PD/LW6F6Q/DQt/c4U6sD8uF2Au3PWzP8wXQYjm9e8/
observation.state:
max:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCw68o/AAAA4NQK2T8AAADgLdv1PwAAAGAUXw1AAAAAYDZ8DEAAAABgci72PwAAAACMraU/AAAAoBpWVj8=
mean:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIBNme1VP0ae/GQwTsRCeoT9+Wp/PNnfoP0o858UVxwdAPv83m1o4zL9NbNdi/BLAvxfFWPZoj5s/rKiMmebXm78=
min:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCH5t6/AAAAQBHV1L8AAADggaWAPwAAAADVk9Y/AAAAQKYhDcAAAABA23v9vwAAAOCNQla/AAAAQGCGpb8=
std:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIHpiAWeb3bo/tHB6GhNtwz9rUe4jnjnYP0P+b3mTCNY/jjhbZ7UF7T86wtSNONPUPy7+dppBCI0/kcnB2ejKjD8=
transform_type: normalize_observation
observation_space:
format: default
images:
observation.images.image:
height: 256
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 256
observation.images.wrist_image:
height: 256
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 256
names: null
state:
observation.state:
dtype: float64
high: .inf
low: -.inf
names:
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
- observation.state_{i}
tensor_decoder:
id: LiberoObservation.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO4/AAAAAAAA7j8AAAAAAADuPwAAAOAFxNY/AAAAAAAA2D8AAAAAAADYPwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIDoVfuNzErA/fg6uBzM7tj+6fG5WsCK3v/hkJ+sUuEE/y706MIMddz+d2v9xG2t1v7uhTTiCaqm/
min:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO6/AAAAAAAA7r8AAAAAAADuvwAAAECVhtC/AAAAAAAA2L8AAADAHoXXvwAAAAAAAPC/
std:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gID61+XE4edU/R7zQtXk42D8OMzLxbnbcP4PD/LW6F6Q/DQt/c4U6sD8uF2Au3PWzP8wXQYjm9e8/
observation.state:
max:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCw68o/AAAA4NQK2T8AAADgLdv1PwAAAGAUXw1AAAAAYDZ8DEAAAABgci72PwAAAACMraU/AAAAoBpWVj8=
mean:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIBNme1VP0ae/GQwTsRCeoT9+Wp/PNnfoP0o858UVxwdAPv83m1o4zL9NbNdi/BLAvxfFWPZoj5s/rKiMmebXm78=
min:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCH5t6/AAAAQBHV1L8AAADggaWAPwAAAADVk9Y/AAAAQKYhDcAAAABA23v9vwAAAOCNQla/AAAAQGCGpb8=
std:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIHpiAWeb3bo/tHB6GhNtwz9rUe4jnjnYP0P+b3mTCNY/jjhbZ7UF7T86wtSNONPUPy7+dppBCI0/kcnB2ejKjD8=
norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO4/AAAAAAAA7j8AAAAAAADuPwAAAOAFxNY/AAAAAAAA2D8AAAAAAADYPwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIDoVfuNzErA/fg6uBzM7tj+6fG5WsCK3v/hkJ+sUuEE/y706MIMddz+d2v9xG2t1v7uhTTiCaqm/
min:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAAAAAO6/AAAAAAAA7r8AAAAAAADuvwAAAECVhtC/AAAAAAAA2L8AAADAHoXXvwAAAAAAAPC/
std:
batch_dims: []
decoder:
id: LiberoAction.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gID61+XE4edU/R7zQtXk42D8OMzLxbnbcP4PD/LW6F6Q/DQt/c4U6sD8uF2Au3PWzP8wXQYjm9e8/
observation.state:
max:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCw68o/AAAA4NQK2T8AAADgLdv1PwAAAGAUXw1AAAAAYDZ8DEAAAABgci72PwAAAACMraU/AAAAoBpWVj8=
mean:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIBNme1VP0ae/GQwTsRCeoT9+Wp/PNnfoP0o858UVxwdAPv83m1o4zL9NbNdi/BLAvxfFWPZoj5s/rKiMmebXm78=
min:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACCH5t6/AAAAQBHV1L8AAADggaWAPwAAAADVk9Y/AAAAQKYhDcAAAABA23v9vwAAAOCNQla/AAAAQGCGpb8=
std:
batch_dims: []
decoder:
id: LiberoObservation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIHpiAWeb3bo/tHB6GhNtwz9rUe4jnjnYP0P+b3mTCNY/jjhbZ7UF7T86wtSNONPUPy7+dppBCI0/kcnB2ejKjD8=
transform_type: denormalize_observation
GOOGLEROBOT_RT1:
action_space:
format: default
horizon: 4
names: null
tensors:
action:
dtype: float32
high: .inf
low: -.inf
names:
- action_0
- action_1
- action_2
- action_3
- action_4
- action_5
- action_6
tensor_decoder:
id: RT1Action.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAEDY/AdAAAAA4CwXNkAAAACAigEGQAAAAMBTIfk/AAAAYISD+D8AAABgPxv5PwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMAannw/AAAAYM+qeT8AAABAb9uJvwAAAEDyL6Y/AAAAgG+Td78AAABA7O1NPwAAAIAkIeE/
min:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMDiKQDAAAAAYNn9FcAAAADA2EAAwAAAAEBiHvm/AAAAQEce+b8AAAAgcCD5vwAAAAAAAAAA
std:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMBfxrE/AAAAYAaorj8AAADAXueyPwAAAGDRF8Q/AAAAYOHiwD8AAADgq7rCPwAAAIB56t8/
observation.state:
max:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACAY2/A/AAAAIG273j8AAACg3wj7PwAAAKD+/+8/AAAAwOX/7z8AAACA8JLuPwAAAAD/ue8/AAAAAAAA8D8=
mean:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACDj3OE/AAAAQG1Ptb8AAABgm6roPwAAAADtrs+/AAAAYEq+3z8AAAAg5bG3PwAAAOA+zso/AAAAAMpG2z8=
min:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAICpZNy/AAAAoNXn778AAAAAv/J6vwAAAKC8qOu/AAAAYOmn5r8AAADgmZrovwAAAOD9/9+/AAAAAAAAAAA=
std:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAIDn2L8/AAAAwGmfvT8AAADAdHnPPwAAAABpbOA/AAAA4Aa34D8AAABAGlXFPwAAAMDLrNE/AAAAwD4M3T8=
norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAEDY/AdAAAAA4CwXNkAAAACAigEGQAAAAMBTIfk/AAAAYISD+D8AAABgPxv5PwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMAannw/AAAAYM+qeT8AAABAb9uJvwAAAEDyL6Y/AAAAgG+Td78AAABA7O1NPwAAAIAkIeE/
min:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMDiKQDAAAAAYNn9FcAAAADA2EAAwAAAAEBiHvm/AAAAQEce+b8AAAAgcCD5vwAAAAAAAAAA
std:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMBfxrE/AAAAYAaorj8AAADAXueyPwAAAGDRF8Q/AAAAYOHiwD8AAADgq7rCPwAAAIB56t8/
observation.state:
max:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACAY2/A/AAAAIG273j8AAACg3wj7PwAAAKD+/+8/AAAAwOX/7z8AAACA8JLuPwAAAAD/ue8/AAAAAAAA8D8=
mean:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACDj3OE/AAAAQG1Ptb8AAABgm6roPwAAAADtrs+/AAAAYEq+3z8AAAAg5bG3PwAAAOA+zso/AAAAAMpG2z8=
min:
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decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAICpZNy/AAAAoNXn778AAAAAv/J6vwAAAKC8qOu/AAAAYOmn5r8AAADgmZrovwAAAOD9/9+/AAAAAAAAAAA=
std:
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decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAIDn2L8/AAAAwGmfvT8AAADAdHnPPwAAAABpbOA/AAAA4Aa34D8AAABAGlXFPwAAAMDLrNE/AAAAwD4M3T8=
transform_type: normalize_observation
observation_space:
format: default
images:
observation.images.image:
height: 320
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 256
names: null
state:
observation.state:
dtype: float64
high: .inf
low: -.inf
names:
- observation.state_0
- observation.state_1
- observation.state_2
- observation.state_3
- observation.state_4
- observation.state_5
- observation.state_6
- observation.state_7
tensor_decoder:
id: RT1Observation.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAEDY/AdAAAAA4CwXNkAAAACAigEGQAAAAMBTIfk/AAAAYISD+D8AAABgPxv5PwAAAAAAAPA/
mean:
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decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMAannw/AAAAYM+qeT8AAABAb9uJvwAAAEDyL6Y/AAAAgG+Td78AAABA7O1NPwAAAIAkIeE/
min:
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decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMDiKQDAAAAAYNn9FcAAAADA2EAAwAAAAEBiHvm/AAAAQEce+b8AAAAgcCD5vwAAAAAAAAAA
std:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMBfxrE/AAAAYAaorj8AAADAXueyPwAAAGDRF8Q/AAAAYOHiwD8AAADgq7rCPwAAAIB56t8/
observation.state:
max:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACAY2/A/AAAAIG273j8AAACg3wj7PwAAAKD+/+8/AAAAwOX/7z8AAACA8JLuPwAAAAD/ue8/AAAAAAAA8D8=
mean:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACDj3OE/AAAAQG1Ptb8AAABgm6roPwAAAADtrs+/AAAAYEq+3z8AAAAg5bG3PwAAAOA+zso/AAAAAMpG2z8=
min:
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decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAICpZNy/AAAAoNXn778AAAAAv/J6vwAAAKC8qOu/AAAAYOmn5r8AAADgmZrovwAAAOD9/9+/AAAAAAAAAAA=
std:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAIDn2L8/AAAAwGmfvT8AAADAdHnPPwAAAABpbOA/AAAA4Aa34D8AAABAGlXFPwAAAMDLrNE/AAAAwD4M3T8=
norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
action:
max:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAEDY/AdAAAAA4CwXNkAAAACAigEGQAAAAMBTIfk/AAAAYISD+D8AAABgPxv5PwAAAAAAAPA/
mean:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMAannw/AAAAYM+qeT8AAABAb9uJvwAAAEDyL6Y/AAAAgG+Td78AAABA7O1NPwAAAIAkIeE/
min:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMDiKQDAAAAAYNn9FcAAAADA2EAAwAAAAEBiHvm/AAAAQEce+b8AAAAgcCD5vwAAAAAAAAAA
std:
batch_dims: []
decoder:
id: RT1Action.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbN10sImRhdGFfb2Zmc2V0cyI6WzAsNTZdfX0gIAAAAMBfxrE/AAAAYAaorj8AAADAXueyPwAAAGDRF8Q/AAAAYOHiwD8AAADgq7rCPwAAAIB56t8/
observation.state:
max:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACAY2/A/AAAAIG273j8AAACg3wj7PwAAAKD+/+8/AAAAwOX/7z8AAACA8JLuPwAAAAD/ue8/AAAAAAAA8D8=
mean:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAACDj3OE/AAAAQG1Ptb8AAABgm6roPwAAAADtrs+/AAAAYEq+3z8AAAAg5bG3PwAAAOA+zso/AAAAAMpG2z8=
min:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAICpZNy/AAAAoNXn778AAAAAv/J6vwAAAKC8qOu/AAAAYOmn5r8AAADgmZrovwAAAOD9/9+/AAAAAAAAAAA=
std:
batch_dims: []
decoder:
id: RT1Observation.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbOF0sImRhdGFfb2Zmc2V0cyI6WzAsNjRdfX0gIAAAAIDn2L8/AAAAwGmfvT8AAADAdHnPPwAAAABpbOA/AAAA4Aa34D8AAABAGlXFPwAAAMDLrNE/AAAAwD4M3T8=
transform_type: denormalize_observation
MARVIN_REAL:
action_space:
format: default
horizon: 16
names: null
tensors:
ctrl.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
- right_arm.gripper_width
- left_arm.gripper_width
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
ctrl.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
- right_arm.j0
- right_arm.j1
- right_arm.j2
- right_arm.j3
- right_arm.j4
- right_arm.j5
- right_arm.j6
- left_arm.j0
- left_arm.j1
- left_arm.j2
- left_arm.j3
- left_arm.j4
- left_arm.j5
- left_arm.j6
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
ctrl.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUOIM9g3ZOQ/JTt4HsMAvj+iyc2JoO7zPx2oGXNTWt4/HSl0wY2S6z/BvBEnQWnzPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcexP5r7dc4/Lg1P8bA3yL+wAwibEbDsP91k8e4KtdE/XDUyPLQX1j/kMixOzhPvPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUUnEQJu7Z+/vQHBd/aw57/V2/LTsEbjPwq4azJ4EtK/dVYs+hq0tr+2AIZI+vLgPw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYA8RybYZrQ/TRxQoYAOuj/9/HOoEcCwP+DMXJ7Whrg/zdcbazXatz+Oa89uJSK4Pw==
ctrl.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fek0wSYhR+8/0/o69AbN7T/Vxwk0VDzkP0KfAj8ueuA/P7UTiEss7j+FI6vPk/ruP+r1ejnkjdI/kh6nZBBK4j8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fXtyhyxWPeg/jIpROgVX4r+qVk97hHm/v7mqR3WVSZg/JriB0LTj5D/Hr0jhtF/mP7uFhcVuQMm/ddxbV+0Wuz8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fcUofHTy+9+/DzZMn+Nk67/s2kGZBLfjv2UHSyt01Na/j0R5MHNLxT+NqWhq4cvUP0fr4hUMF92/PLF3FCF04L8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19feDrteqEYcM/r0KpQcFaxz9yzj5FxIO7P+nZ5qXmm74/e3HaOtWttj+NQau8skW1P247ZRzArrU/78MopfMjvT8=
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fexRuB6F67E/7FG4HoXrsT8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19ff42Wd3JK6w/vTdl8va1sT8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fQAAAAAAAAAAAAAAAAAAAAA=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fWwEh7yKMZ0/DedUEfJqfj8=
marvin_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fZ9t+z8DQeE/vFYIzL9ttz/zVyuH1LzyP/F/aGKR0dw/v9SujaHR4z+XiL8/CDX2Pw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSFlWWqcUc4/Unh1M0hmyL/ByKqMb73sP0gP6PEg4tE/fD7S+VPX1T+XBGaNkyXvPw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdYu2NMvjaK/5UXDtRwA4r8Dw0UwBl3oP4l4LRmuq76/5Iy8B0N4sr/LLGO//rboPw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdQLgOmb0bM/UtdWw7CJuT/veO6YFeWtPyYpfsZk9bQ/I0xyPHaCtD98M6Rp1Gy2Pw==
marvin_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fUOPGD230KO/Z40w+yu67T+fCBzoJc/jP3FoHZdpIto/opBLuU5l7j/7/Ys1li/vPyQKLev+MdA/xTAv2dta4j8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fc1Sug3Niei/hhgzsvny4j9gA2TgZ3nAPxRFo5ZBEJO/a/y6ugDn5D+YU10bhV/mP4+yVbT/Ism/TTC9eYHEuj8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fRXZOZNXQ++/ue6cHPRbwj+Uw4JWu4HJvxdrj0kMo9+/+E5xwb5Cw7+GhPduVnHAP5SRSBWkndy/d+c/WlJk3r8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fWezj7pCxLY/2+9YhTArvD/0h8nIF7y5P0wJdx1gnL4/i3ug0/vftj/MFkFKibC1P/u8mBwtvbU/JEF+V4DGvD8=
marvin_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fT25Qxar/qs/j1feXYDgoD8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fRAJGael4kS/iT0XutBkKL8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVQfxKWVCKe/7zLsxYr5pb8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVcrLBtKq3k/IM9w+8z2ZD8=
marvin_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgENO2SHcjBsDHmx0lhs/8v6i9Tgvau92/WomS83I+BMD7nomXRJkIwN774QjO8PC/dqLqeEgo8b8VmW8zyzTqP/Km8NqEL/y/pgOj3McjBsC20edAYkUEwJZshmV9FOu/jVkfpOET8b+olkJaQgLxvw==
std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYA8RybYZrQ/TRxQoYAOuj/9/HOoEcCwP+DMXJ7Whrg/zdcbazXatz+Oa89uJSK4Pw==
ctrl.ee_link_quat:
max:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
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mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
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min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fcUofHTy+9+/DzZMn+Nk67/s2kGZBLfjv2UHSyt01Na/j0R5MHNLxT+NqWhq4cvUP0fr4hUMF92/PLF3FCF04L8=
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19feDrteqEYcM/r0KpQcFaxz9yzj5FxIO7P+nZ5qXmm74/e3HaOtWttj+NQau8skW1P247ZRzArrU/78MopfMjvT8=
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fexRuB6F67E/7FG4HoXrsT8=
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19ff42Wd3JK6w/vTdl8va1sT8=
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fQAAAAAAAAAAAAAAAAAAAAA=
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fWwEh7yKMZ0/DedUEfJqfj8=
marvin_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fZ9t+z8DQeE/vFYIzL9ttz/zVyuH1LzyP/F/aGKR0dw/v9SujaHR4z+XiL8/CDX2Pw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSFlWWqcUc4/Unh1M0hmyL/ByKqMb73sP0gP6PEg4tE/fD7S+VPX1T+XBGaNkyXvPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdYu2NMvjaK/5UXDtRwA4r8Dw0UwBl3oP4l4LRmuq76/5Iy8B0N4sr/LLGO//rboPw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdQLgOmb0bM/UtdWw7CJuT/veO6YFeWtPyYpfsZk9bQ/I0xyPHaCtD98M6Rp1Gy2Pw==
marvin_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fUOPGD230KO/Z40w+yu67T+fCBzoJc/jP3FoHZdpIto/opBLuU5l7j/7/Ys1li/vPyQKLev+MdA/xTAv2dta4j8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fc1Sug3Niei/hhgzsvny4j9gA2TgZ3nAPxRFo5ZBEJO/a/y6ugDn5D+YU10bhV/mP4+yVbT/Ism/TTC9eYHEuj8=
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fRXZOZNXQ++/ue6cHPRbwj+Uw4JWu4HJvxdrj0kMo9+/+E5xwb5Cw7+GhPduVnHAP5SRSBWkndy/d+c/WlJk3r8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fWezj7pCxLY/2+9YhTArvD/0h8nIF7y5P0wJdx1gnL4/i3ug0/vftj/MFkFKibC1P/u8mBwtvbU/JEF+V4DGvD8=
marvin_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fT25Qxar/qs/j1feXYDgoD8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fRAJGael4kS/iT0XutBkKL8=
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVQfxKWVCKe/7zLsxYr5pb8=
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVcrLBtKq3k/IM9w+8z2ZD8=
marvin_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgaKUYOW7l3b90iZdlV/PSvwqCx7d3jQBAjIMqubNEtr8nKOpxhDHXP+Ihra2vIOs/WLfNlqQ58T/bydi3MD4JQF6DW8o7f8y/arvPEuAL1b8oCU8JBBHAv2D108Hy/ghA1HD8Fr7q8D/d6+ba/hLxPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAg6W6NvjhX/b8yKj54zNT2v3EnCXAXbfY/7i9QjAsb+79unzzJqe/zv385adCGsrO/wVzmzxL/1L/7PMqxijH7PzsfGu0jDfO/QnTOcH8V+7/LRPi0Fnj7v8R3YtaLgfQ/HPhqqpvJwL/clYav6WDYPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgENO2SHcjBsDHmx0lhs/8v6i9Tgvau92/WomS83I+BMD7nomXRJkIwN774QjO8PC/dqLqeEgo8b8VmW8zyzTqP/Km8NqEL/y/pgOj3McjBsC20edAYkUEwJZshmV9FOu/jVkfpOET8b+olkJaQgLxvw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAguu1K5OXd0j/N4f8z793JP55THEl6/8w/cKXokrsZ1z9bGDPTB1zMP/fFa3/jQs4/bu1tyHke1z/a2xQsYe/TP/Rvl/26U8E/13YLC4td0D/jo+YnrL/aP0SQ/9nBDtc/GoJGXSmT0D+Gqnc8Vn7XPw==
transform_type: normalize_observation
observation_space:
format: default
images:
ego.color:
height: 480
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 848
wrist_left.color:
height: 480
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 848
wrist_right.color:
height: 480
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 848
names: null
state:
marvin_robot_state.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
- right_arm.gripper_width
- left_arm.gripper_width
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
marvin_robot_state.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
- right_arm.j0
- right_arm.j1
- right_arm.j2
- right_arm.j3
- right_arm.j4
- right_arm.j5
- right_arm.j6
- left_arm.j0
- left_arm.j1
- left_arm.j2
- left_arm.j3
- left_arm.j4
- left_arm.j5
- left_arm.j6
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
ctrl.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUOIM9g3ZOQ/JTt4HsMAvj+iyc2JoO7zPx2oGXNTWt4/HSl0wY2S6z/BvBEnQWnzPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcexP5r7dc4/Lg1P8bA3yL+wAwibEbDsP91k8e4KtdE/XDUyPLQX1j/kMixOzhPvPw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUUnEQJu7Z+/vQHBd/aw57/V2/LTsEbjPwq4azJ4EtK/dVYs+hq0tr+2AIZI+vLgPw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYA8RybYZrQ/TRxQoYAOuj/9/HOoEcCwP+DMXJ7Whrg/zdcbazXatz+Oa89uJSK4Pw==
ctrl.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fek0wSYhR+8/0/o69AbN7T/Vxwk0VDzkP0KfAj8ueuA/P7UTiEss7j+FI6vPk/ruP+r1ejnkjdI/kh6nZBBK4j8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fXtyhyxWPeg/jIpROgVX4r+qVk97hHm/v7mqR3WVSZg/JriB0LTj5D/Hr0jhtF/mP7uFhcVuQMm/ddxbV+0Wuz8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fcUofHTy+9+/DzZMn+Nk67/s2kGZBLfjv2UHSyt01Na/j0R5MHNLxT+NqWhq4cvUP0fr4hUMF92/PLF3FCF04L8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
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ctrl.gripper_width:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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marvin_robot_state.ee_link_pos:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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marvin_robot_state.ee_link_quat:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fWezj7pCxLY/2+9YhTArvD/0h8nIF7y5P0wJdx1gnL4/i3ug0/vftj/MFkFKibC1P/u8mBwtvbU/JEF+V4DGvD8=
marvin_robot_state.gripper_width:
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batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fT25Qxar/qs/j1feXYDgoD8=
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fRAJGael4kS/iT0XutBkKL8=
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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marvin_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgaKUYOW7l3b90iZdlV/PSvwqCx7d3jQBAjIMqubNEtr8nKOpxhDHXP+Ihra2vIOs/WLfNlqQ58T/bydi3MD4JQF6DW8o7f8y/arvPEuAL1b8oCU8JBBHAv2D108Hy/ghA1HD8Fr7q8D/d6+ba/hLxPw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAg6W6NvjhX/b8yKj54zNT2v3EnCXAXbfY/7i9QjAsb+79unzzJqe/zv385adCGsrO/wVzmzxL/1L/7PMqxijH7PzsfGu0jDfO/QnTOcH8V+7/LRPi0Fnj7v8R3YtaLgfQ/HPhqqpvJwL/clYav6WDYPw==
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
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mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYA8RybYZrQ/TRxQoYAOuj/9/HOoEcCwP+DMXJ7Whrg/zdcbazXatz+Oa89uJSK4Pw==
ctrl.ee_link_quat:
max:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
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mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fXtyhyxWPeg/jIpROgVX4r+qVk97hHm/v7mqR3WVSZg/JriB0LTj5D/Hr0jhtF/mP7uFhcVuQMm/ddxbV+0Wuz8=
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19feDrteqEYcM/r0KpQcFaxz9yzj5FxIO7P+nZ5qXmm74/e3HaOtWttj+NQau8skW1P247ZRzArrU/78MopfMjvT8=
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fexRuB6F67E/7FG4HoXrsT8=
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19ff42Wd3JK6w/vTdl8va1sT8=
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fWwEh7yKMZ0/DedUEfJqfj8=
marvin_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fZ9t+z8DQeE/vFYIzL9ttz/zVyuH1LzyP/F/aGKR0dw/v9SujaHR4z+XiL8/CDX2Pw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSFlWWqcUc4/Unh1M0hmyL/ByKqMb73sP0gP6PEg4tE/fD7S+VPX1T+XBGaNkyXvPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdYu2NMvjaK/5UXDtRwA4r8Dw0UwBl3oP4l4LRmuq76/5Iy8B0N4sr/LLGO//rboPw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwzXSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fdQLgOmb0bM/UtdWw7CJuT/veO6YFeWtPyYpfsZk9bQ/I0xyPHaCtD98M6Rp1Gy2Pw==
marvin_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fUOPGD230KO/Z40w+yu67T+fCBzoJc/jP3FoHZdpIto/opBLuU5l7j/7/Ys1li/vPyQKLev+MdA/xTAv2dta4j8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fc1Sug3Niei/hhgzsvny4j9gA2TgZ3nAPxRFo5ZBEJO/a/y6ugDn5D+YU10bhV/mP4+yVbT/Ism/TTC9eYHEuj8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fRXZOZNXQ++/ue6cHPRbwj+Uw4JWu4HJvxdrj0kMo9+/+E5xwb5Cw7+GhPduVnHAP5SRSBWkndy/d+c/WlJk3r8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw0XSwiZGF0YV9vZmZzZXRzIjpbMCw2NF19fWezj7pCxLY/2+9YhTArvD/0h8nIF7y5P0wJdx1gnL4/i3ug0/vftj/MFkFKibC1P/u8mBwtvbU/JEF+V4DGvD8=
marvin_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fT25Qxar/qs/j1feXYDgoD8=
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fRAJGael4kS/iT0XutBkKL8=
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVQfxKWVCKe/7zLsxYr5pb8=
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiwxXSwiZGF0YV9vZmZzZXRzIjpbMCwxNl19fVcrLBtKq3k/IM9w+8z2ZD8=
marvin_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgaKUYOW7l3b90iZdlV/PSvwqCx7d3jQBAjIMqubNEtr8nKOpxhDHXP+Ihra2vIOs/WLfNlqQ58T/bydi3MD4JQF6DW8o7f8y/arvPEuAL1b8oCU8JBBHAv2D108Hy/ghA1HD8Fr7q8D/d6+ba/hLxPw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAg6W6NvjhX/b8yKj54zNT2v3EnCXAXbfY/7i9QjAsb+79unzzJqe/zv385adCGsrO/wVzmzxL/1L/7PMqxijH7PzsfGu0jDfO/QnTOcH8V+7/LRPi0Fnj7v8R3YtaLgfQ/HPhqqpvJwL/clYav6WDYPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAgENO2SHcjBsDHmx0lhs/8v6i9Tgvau92/WomS83I+BMD7nomXRJkIwN774QjO8PC/dqLqeEgo8b8VmW8zyzTqP/Km8NqEL/y/pgOj3McjBsC20edAYkUEwJZshmV9FOu/jVkfpOET8b+olkJaQgLxvw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 2
decoder:
id: JointAngles7D.v1
id: AsTensor.v1
tensor: QAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMiw3XSwiZGF0YV9vZmZzZXRzIjpbMCwxMTJdfX0gICAgICAguu1K5OXd0j/N4f8z793JP55THEl6/8w/cKXokrsZ1z9bGDPTB1zMP/fFa3/jQs4/bu1tyHke1z/a2xQsYe/TP/Rvl/26U8E/13YLC4td0D/jo+YnrL/aP0SQ/9nBDtc/GoJGXSmT0D+Gqnc8Vn7XPw==
transform_type: denormalize_observation
PIPER_COTRAINING_CUP_PNP:
action_space:
format: default
horizon: 16
names: null
tensors:
ctrl.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
- arm_1.gripper_width
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
ctrl.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
- arm_1.j0
- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IBve7Tom77E/
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJ9bQWIxjaU/
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOumYCkMsjS/
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFQMrnr+gaA/
ctrl.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAABEYuY/AAAAoEF4BkAAAAAglWLuvwAAAEDU4sA/AAAAoFNl9D8AAABA1eLQPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRfdu/3JVbS/8tlyQSK7AEDr19uo3ZD6v7ysbFa0cZ6/wGhFoIyV8z8UhPjaF9K9vw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAACCuR+m/AAAA4LJV9j8AAACgMa8FwAAAACCPQc2/AAAAwN2i6z8AAADAkLDgvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUAPrKD4SdI/SEcQQYZW0T/FDIK2+a/WP5vaFIfgias/kSvXY9n6sj/t3kc21c6/Pw==
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19II+cY+nh77E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IAQ3a0sJuKU/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOumYCkMsjS/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbid0B9EZ8/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAACFUuY/AAAA4ABqBkAAAAAgxcjuvwAAAMBfVsA/AAAAwB6F8z8AAADggk/QPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXz08S7gsrO/nsTof5+7AECvySWUv576vw8ZOsBTGpy/RJtT2BEL8z+j3RRCPSC9vw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAECG/+i/AAAAYMJw9j8AAADgBKgFwAAAAGAhesy/AAAAwJLh6z8AAAAAWDLgvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcVgnJnMONI/FsLBJUhJ0T9IhytT8HLWP1S/pXd+3qo/5xh5SjUErj/fN+GChgO/Pw==
norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IBve7Tom77E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJ9bQWIxjaU/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOumYCkMsjS/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFQMrnr+gaA/
ctrl.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAABEYuY/AAAAoEF4BkAAAAAglWLuvwAAAEDU4sA/AAAAoFNl9D8AAABA1eLQPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRfdu/3JVbS/8tlyQSK7AEDr19uo3ZD6v7ysbFa0cZ6/wGhFoIyV8z8UhPjaF9K9vw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAACCuR+m/AAAA4LJV9j8AAACgMa8FwAAAACCPQc2/AAAAwN2i6z8AAADAkLDgvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUAPrKD4SdI/SEcQQYZW0T/FDIK2+a/WP5vaFIfgias/kSvXY9n6sj/t3kc21c6/Pw==
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19II+cY+nh77E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IAQ3a0sJuKU/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOumYCkMsjS/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbid0B9EZ8/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAACFUuY/AAAA4ABqBkAAAAAgxcjuvwAAAMBfVsA/AAAAwB6F8z8AAADggk/QPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXz08S7gsrO/nsTof5+7AECvySWUv576vw8ZOsBTGpy/RJtT2BEL8z+j3RRCPSC9vw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAECG/+i/AAAAYMJw9j8AAADgBKgFwAAAAGAhesy/AAAAwJLh6z8AAAAAWDLgvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcVgnJnMONI/FsLBJUhJ0T9IhytT8HLWP1S/pXd+3qo/5xh5SjUErj/fN+GChgO/Pw==
transform_type: normalize_observation
- transform_type: crop_image
observation_space:
format: default
images:
camera.color:
height: 480
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 20.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 848
names: null
state:
piper_robot_state.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
- arm_1.gripper_width
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
piper_robot_state.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
- arm_1.j0
- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IBve7Tom77E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJ9bQWIxjaU/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOumYCkMsjS/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFQMrnr+gaA/
ctrl.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAAABEYuY/AAAAoEF4BkAAAAAglWLuvwAAAEDU4sA/AAAAoFNl9D8AAABA1eLQPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRfdu/3JVbS/8tlyQSK7AEDr19uo3ZD6v7ysbFa0cZ6/wGhFoIyV8z8UhPjaF9K9vw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQAAACCuR+m/AAAA4LJV9j8AAACgMa8FwAAAACCPQc2/AAAAwN2i6z8AAADAkLDgvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUAPrKD4SdI/SEcQQYZW0T/FDIK2+a/WP5vaFIfgias/kSvXY9n6sj/t3kc21c6/Pw==
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19II+cY+nh77E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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decoder:
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id: AsTensor.v1
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norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
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state_stats:
stats:
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decoder:
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decoder:
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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decoder:
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ctrl.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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decoder:
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piper_robot_state.gripper_width:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19II+cY+nh77E/
mean:
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decoder:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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decoder:
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std:
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decoder:
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decoder:
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piper_robot_state.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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batch_shape:
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decoder:
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transform_type: denormalize_observation
PIPER_GS_CLOSE_REAL_LOOP:
action_space:
format: default
horizon: 16
names: null
tensors:
ctrl.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
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tensor_decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
ctrl.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
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- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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ctrl.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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batch_shape:
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decoder:
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piper_robot_state.ee_link_pos:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
piper_robot_state.ee_link_quat:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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ctrl.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.ee_link_pos:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
piper_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
transform_type: normalize_observation
- transform_type: process_image
transforms:
- class: gs_vla.preprocessing.image_preprocessor.image_transforms.FixCrop
params:
height: 300
left: 368
top: 60
width: 480
observation_space:
format: default
images:
camera_ego.color:
height: 480
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 848
names: null
state:
piper_robot_state.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
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tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
piper_robot_state.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
- arm_1.j0
- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
min:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IEImxWQeq58/
ctrl.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRgBmcftU+E/6NkyQxTNBkCxZxtSYRvxv+BTJkcUB8Q/pGR3NJxr9D8gxj04x7jZPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19faXI8uQFALQ/lW8x8Bx/AUAp+MTc8jf9v1X+YOhbo4w/8RLKHw2U8z/1uncJ9IGyvw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcjSXlNIiN6/iFD+l4619z/EHo9htykGwPCs+wHFGcC/xMIViUFn7T8ompKruerhvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fTC2PpRjWsg/17RK4cPd0z+5nqzweurZPyQAS/Cb0aY/9FW2IG1crz+9MfekIuvBPw==
piper_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
piper_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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ctrl.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.ee_link_pos:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.ee_link_quat:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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min:
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decoder:
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decoder:
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.gripper_width:
max:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
mean:
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decoder:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
min:
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decoder:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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decoder:
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id: AsTensor.v1
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piper_robot_state.joint_angles:
max:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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transform_type: denormalize_observation
PIPER_GS_CLOSE_SIM_LOOP:
action_space:
format: default
horizon: 5
names: null
tensors:
ctrl.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
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tensor_decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
ctrl.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
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- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
input_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHhDOIo9KbA/
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFwGMuF/2pA/
ctrl.joint_angles:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fbyh0fCNc+M/CVUOZw+7/z+5zGQ6WlPivwDR09qt3DA/HJ6EDgox8j+Tej99c3PjPw==
mean:
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decoder:
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batch_shape:
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decoder:
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSNwkrbeVr8/HjEz3PCXvD+bXpXwMoG5P2gJC47HTCw/uYhGaqqixD+1J+M/NnTBPw==
piper_robot_state.ee_link_pos:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fRnHgeNtQtM/IuuX5l9Kwz+vvegjWzPDPw==
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19ffScBF+uRNA/k6GuQA6dsz+vb1GZz0S0Pw==
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fTOswkjH5Mo/Qc6N4yJAzb2QqsCQydqQPw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fX5VmajgwZQ/uuLJLEnvoT+LMwHtdLiiPw==
piper_robot_state.ee_link_quat:
max:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
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mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19ffx6rzuli4K/QGAMeEyeg78imJVMWf7vP4XqzzIX/lm/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fblQjtlwi6O/s96QbGrKpr9DWrDoovLvP1y0coVYDXq/
std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fWzXZjxI74Q/79RWsFZuhj+p0pLkh+kzP0PXEZ7qm1g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INs4UPN967E/
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IB8ZQxsAMrA/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IAAAAAAAAAAA
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INLdo3QSOIs/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRoxNTd2cuM/xETyLwey/z8iUzoKZ2Hiv0J3H9RpMzE/p+vSDx5+8j8D26QRD3LjPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fddM5cpxf9I/tO86hPjP+j/us9gth5Psv1PVgf57UCe/BPQ6lTiZ7D/1bv9ny0bRPw==
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19ff1I/26YVsU+lnr0Mh2e9z9epokn/DDyv6g8iUuJP1G/Gi4JtbkU4T/x6SFM0pHfvg==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fchUwNfQNsA/3OGRDBzPvD9pGXsOd9u4P6dYxGNWEi8/9baZFcQkxT/2vhqyckTCPw==
norm_type: MIN_MAX
transform_type: normalize_action
input_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHhDOIo9KbA/
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJi39oBWMXM/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
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ctrl.joint_angles:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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piper_robot_state.ee_link_pos:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19ffScBF+uRNA/k6GuQA6dsz+vb1GZz0S0Pw==
min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fX5VmajgwZQ/uuLJLEnvoT+LMwHtdLiiPw==
piper_robot_state.ee_link_quat:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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mean:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
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min:
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decoder:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fblQjtlwi6O/s96QbGrKpr9DWrDoovLvP1y0coVYDXq/
std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fWzXZjxI74Q/79RWsFZuhj+p0pLkh+kzP0PXEZ7qm1g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INs4UPN967E/
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IB8ZQxsAMrA/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
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std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INLdo3QSOIs/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRoxNTd2cuM/xETyLwey/z8iUzoKZ2Hiv0J3H9RpMzE/p+vSDx5+8j8D26QRD3LjPw==
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fddM5cpxf9I/tO86hPjP+j/us9gth5Psv1PVgf57UCe/BPQ6lTiZ7D/1bv9ny0bRPw==
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19ff1I/26YVsU+lnr0Mh2e9z9epokn/DDyv6g8iUuJP1G/Gi4JtbkU4T/x6SFM0pHfvg==
std:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fchUwNfQNsA/3OGRDBzPvD9pGXsOd9u4P6dYxGNWEi8/9baZFcQkxT/2vhqyckTCPw==
transform_type: normalize_observation
observation_space:
format: default
images:
camera.color_left:
height: 224
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 224
camera.color_right:
height: 224
n_channels: 3
video_info:
has_audio: false
video.codec: h264
video.fps: 30.0
video.is_depth_map: false
video.pix_fmt: yuv420p
width: 224
names: null
state:
piper_robot_state.gripper_width:
dtype: float
high: .inf
low: -.inf
names:
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tensor_decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
piper_robot_state.joint_angles:
dtype: float
high: .inf
low: -.inf
names:
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- arm_1.j1
- arm_1.j2
- arm_1.j3
- arm_1.j4
- arm_1.j5
tensor_decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
video_info:
has_audio: false
video.codec: h264
video.fps: 10.0
video.is_depth_map: false
video.pix_fmt: yuv420p
output_action_transforms:
- action_stats:
stats:
ctrl.gripper_width:
max:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHhDOIo9KbA/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJi39oBWMXM/
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFwGMuF/2pA/
ctrl.joint_angles:
max:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fbyh0fCNc+M/CVUOZw+7/z+5zGQ6WlPivwDR09qt3DA/HJ6EDgox8j+Tej99c3PjPw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fT+/RV5aV9M/sCAw4mv5+j/vWi/qLXLsv3JO0eI+8SO/LiN2hGEN7D+49jzCZ1DSPw==
min:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSNwkrbeVr8/HjEz3PCXvD+bXpXwMoG5P2gJC47HTCw/uYhGaqqixD+1J+M/NnTBPw==
piper_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fRnHgeNtQtM/IuuX5l9Kwz+vvegjWzPDPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19ffScBF+uRNA/k6GuQA6dsz+vb1GZz0S0Pw==
min:
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decoder:
batch_dims:
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batch_shape:
- 1
decoder:
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id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fTOswkjH5Mo/Qc6N4yJAzb2QqsCQydqQPw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fX5VmajgwZQ/uuLJLEnvoT+LMwHtdLiiPw==
piper_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fTUP1M2kJUc/xAhUY0xR0b2G///////vP0AsSWmt9Dc/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19ffx6rzuli4K/QGAMeEyeg78imJVMWf7vP4XqzzIX/lm/
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fblQjtlwi6O/s96QbGrKpr9DWrDoovLvP1y0coVYDXq/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fWzXZjxI74Q/79RWsFZuhj+p0pLkh+kzP0PXEZ7qm1g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INs4UPN967E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IB8ZQxsAMrA/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IAAAAAAAAAAA
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INLdo3QSOIs/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRoxNTd2cuM/xETyLwey/z8iUzoKZ2Hiv0J3H9RpMzE/p+vSDx5+8j8D26QRD3LjPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fddM5cpxf9I/tO86hPjP+j/us9gth5Psv1PVgf57UCe/BPQ6lTiZ7D/1bv9ny0bRPw==
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19ff1I/26YVsU+lnr0Mh2e9z9epokn/DDyv6g8iUuJP1G/Gi4JtbkU4T/x6SFM0pHfvg==
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fchUwNfQNsA/3OGRDBzPvD9pGXsOd9u4P6dYxGNWEi8/9baZFcQkxT/2vhqyckTCPw==
norm_type: MIN_MAX
transform_type: denormalize_action
output_observation_transforms:
- norm_type: MIN_MAX
state_stats:
stats:
ctrl.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHhDOIo9KbA/
min:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IJi39oBWMXM/
std:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IFwGMuF/2pA/
ctrl.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fbyh0fCNc+M/CVUOZw+7/z+5zGQ6WlPivwDR09qt3DA/HJ6EDgox8j+Tej99c3PjPw==
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
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min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fUC4XDNJlaQ/t9yTLAIJ+D/tsKVaKT3yv9Dyz2DRUU6/9jbZA3ft4D8ICKpxbdOiPw==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fSNwkrbeVr8/HjEz3PCXvD+bXpXwMoG5P2gJC47HTCw/uYhGaqqixD+1J+M/NnTBPw==
piper_robot_state.ee_link_pos:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fRnHgeNtQtM/IuuX5l9Kwz+vvegjWzPDPw==
mean:
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decoder:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
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min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
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std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Position3D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fX5VmajgwZQ/uuLJLEnvoT+LMwHtdLiiPw==
piper_robot_state.ee_link_quat:
max:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fTUP1M2kJUc/xAhUY0xR0b2G///////vP0AsSWmt9Dc/
mean:
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decoder:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19ffx6rzuli4K/QGAMeEyeg78imJVMWf7vP4XqzzIX/lm/
min:
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decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fblQjtlwi6O/s96QbGrKpr9DWrDoovLvP1y0coVYDXq/
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: Quaternion.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fWzXZjxI74Q/79RWsFZuhj+p0pLkh+kzP0PXEZ7qm1g/
piper_robot_state.gripper_width:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INs4UPN967E/
mean:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IB8ZQxsAMrA/
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IAAAAAAAAAAA
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: GripperWidth.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19INLdo3QSOIs/
piper_robot_state.joint_angles:
max:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRoxNTd2cuM/xETyLwey/z8iUzoKZ2Hiv0J3H9RpMzE/p+vSDx5+8j8D26QRD3LjPw==
mean:
batch_dims: []
decoder:
batch_dims:
- arm
batch_shape:
- 1
decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fddM5cpxf9I/tO86hPjP+j/us9gth5Psv1PVgf57UCe/BPQ6lTiZ7D/1bv9ny0bRPw==
min:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19ff1I/26YVsU+lnr0Mh2e9z9epokn/DDyv6g8iUuJP1G/Gi4JtbkU4T/x6SFM0pHfvg==
std:
batch_dims: []
decoder:
batch_dims:
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batch_shape:
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decoder:
id: JointAngles6D.v1
id: AsTensor.v1
tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fchUwNfQNsA/3OGRDBzPvD9pGXsOd9u4P6dYxGNWEi8/9baZFcQkxT/2vhqyckTCPw==
transform_type: denormalize_observation
processor_type: vla
vlm_processor_args:
annotation_formatter_args:
formatter_type: COMPACT_DISCRETE
bottleneck: null
decoder_attention_args:
pattern: BIDIR_ON_IMAGE
image_preprocess_args:
interpolation_mode: BICUBIC
max_image_size: 224
patch_size: 16
pooling_factor_per_dim: 1
resize_mode: FIXED
rgb_normalization: IMAGENET
instruct_template_args:
template_type: GENESIS
processor_type: vlm
tokenizer_args:
tokenizer_type: GEMMA3
return_logits: false
total_parameter_count: 159350791
use_output_biases: false
vocab_size: 262208