Hugging Face's logo

Genesis-Intelligence
/
pi0-fast-libero-converted-correct

Model card Files
xet
Community
miscalculation commited on
Commit
a535265
·
verified ·
1 Parent(s): 6171efa

Upload folder using huggingface_hub

Browse files
Files changed (2) hide show
  1. consolidated.00.safetensors +3 -0
  2. model_args.yaml +1461 -0
consolidated.00.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:606d346489b153b4b8a6a863afaf123724187e2e794b917397890f6baa22c66c
3
+ size 13801054560
model_args.yaml ADDED
@@ -0,0 +1,1461 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ adapter_args:
2
+ activation_class: SILU
3
+ adapter_type: LINEAR
4
+ hidden_dim: output_dim
5
+ input_norm: false
6
+ norm_instance:
7
+ norm_class: LN
8
+ norm_eps: 1.0e-06
9
+ output_norm: false
10
+ pooling_factor_per_dim: 1
11
+ pre_project_norm: false
12
+ use_biases: true
13
+ use_gating: false
14
+ decoder_args:
15
+ activation_class: GELU_TANH
16
+ checkpoint: false
17
+ dim: 2048
18
+ dropout: 0.0
19
+ head_dim: 256
20
+ hidden_dim: 16384
21
+ n_heads: 8
22
+ n_kv_heads: 1
23
+ n_layers: 18
24
+ norm_args:
25
+ attention_norm: true
26
+ ffn_norm: true
27
+ norm_instance:
28
+ norm_class: RMS
29
+ norm_eps: 1.0e-06
30
+ post_attention_norm: false
31
+ post_ffn_norm: false
32
+ qk_norm: false
33
+ pos_embed: ROPE_1D
34
+ rope_freqs_split: null
35
+ rope_theta: 10000.0
36
+ total_parameter_count: 1981882368
37
+ use_attn_wk_biases: false
38
+ use_attn_wo_biases: false
39
+ use_attn_wq_biases: false
40
+ use_attn_wv_biases: false
41
+ use_ffn_biases: false
42
+ use_ffn_gating: true
43
+ image_encoder_args:
44
+ image_pooling_args:
45
+ pooling_type: NONE
46
+ max_image_size: 224
47
+ num_register_tokens: 0
48
+ output_norm: true
49
+ patch_norm: false
50
+ patch_size: 14
51
+ total_parameter_count: 412442352
52
+ transformer_args:
53
+ activation_class: GELU_TANH
54
+ checkpoint: false
55
+ dim: 1152
56
+ dropout: 0.0
57
+ head_dim: 72
58
+ hidden_dim: 4304
59
+ n_heads: 16
60
+ n_kv_heads: 16
61
+ n_layers: 27
62
+ norm_args:
63
+ attention_norm: true
64
+ ffn_norm: true
65
+ norm_instance:
66
+ norm_class: LN
67
+ norm_eps: 1.0e-06
68
+ post_attention_norm: false
69
+ post_ffn_norm: false
70
+ qk_norm: false
71
+ pos_embed: LEARNED
72
+ rope_freqs_split: null
73
+ rope_theta: null
74
+ total_parameter_count: 411466608
75
+ use_attn_wk_biases: true
76
+ use_attn_wo_biases: true
77
+ use_attn_wq_biases: true
78
+ use_attn_wv_biases: true
79
+ use_ffn_biases: true
80
+ use_ffn_gating: false
81
+ use_cls_token: false
82
+ use_patch_conv_biases: true
83
+ image_token_id: 257152
84
+ img_encoding_tokens:
85
+ - 257152
86
+ model_parallel: 1
87
+ model_type: vla_autoregressive
88
+ processor_args:
89
+ action_tokenizer_args:
90
+ fault_tolerant_decoding: true
91
+ max_action: 2.0
92
+ min_action: -2.0
93
+ n_bins: null
94
+ tokenizer_type: FAST
95
+ hardware_processor_args:
96
+ PIPER_GS_CLOSE_SIM_LOOP:
97
+ action_space:
98
+ format: default
99
+ horizon: 5
100
+ names: null
101
+ tensors:
102
+ ctrl.gripper_width:
103
+ dtype: float
104
+ high: .inf
105
+ low: -.inf
106
+ names:
107
+ - arm_1.gripper_width
108
+ tensor_decoder:
109
+ batch_dims:
110
+ - arm
111
+ batch_shape:
112
+ - 1
113
+ decoder:
114
+ tensor_decoder_type: default
115
+ type: gs_schemas.data.GripperWidth
116
+ tensor_decoder_type: as_tensor
117
+ ctrl.joint_angles:
118
+ dtype: float
119
+ high: .inf
120
+ low: -.inf
121
+ names:
122
+ - arm_1.j0
123
+ - arm_1.j1
124
+ - arm_1.j2
125
+ - arm_1.j3
126
+ - arm_1.j4
127
+ - arm_1.j5
128
+ tensor_decoder:
129
+ batch_dims:
130
+ - arm
131
+ batch_shape:
132
+ - 1
133
+ decoder:
134
+ tensor_decoder_type: default
135
+ type: gs_schemas.data.JointAngles6D
136
+ tensor_decoder_type: as_tensor
137
+ video_info:
138
+ has_audio: false
139
+ video.codec: h264
140
+ video.fps: 10.0
141
+ video.is_depth_map: false
142
+ video.pix_fmt: yuv420p
143
+ input_action_transforms:
144
+ - action_stats:
145
+ stats:
146
+ ctrl.gripper_width:
147
+ max:
148
+ batch_dims: []
149
+ decoder:
150
+ batch_dims:
151
+ - arm
152
+ batch_shape:
153
+ - 1
154
+ decoder:
155
+ tensor_decoder_type: default
156
+ type: gs_schemas.data.GripperWidth
157
+ tensor_decoder_type: as_tensor
158
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
159
+ mean:
160
+ batch_dims: []
161
+ decoder:
162
+ batch_dims:
163
+ - arm
164
+ batch_shape:
165
+ - 1
166
+ decoder:
167
+ tensor_decoder_type: default
168
+ type: gs_schemas.data.GripperWidth
169
+ tensor_decoder_type: as_tensor
170
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
171
+ min:
172
+ batch_dims: []
173
+ decoder:
174
+ batch_dims:
175
+ - arm
176
+ batch_shape:
177
+ - 1
178
+ decoder:
179
+ tensor_decoder_type: default
180
+ type: gs_schemas.data.GripperWidth
181
+ tensor_decoder_type: as_tensor
182
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
183
+ std:
184
+ batch_dims: []
185
+ decoder:
186
+ batch_dims:
187
+ - arm
188
+ batch_shape:
189
+ - 1
190
+ decoder:
191
+ tensor_decoder_type: default
192
+ type: gs_schemas.data.GripperWidth
193
+ tensor_decoder_type: as_tensor
194
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IEImxWQeq58/
195
+ ctrl.joint_angles:
196
+ max:
197
+ batch_dims: []
198
+ decoder:
199
+ batch_dims:
200
+ - arm
201
+ batch_shape:
202
+ - 1
203
+ decoder:
204
+ tensor_decoder_type: default
205
+ type: gs_schemas.data.JointAngles6D
206
+ tensor_decoder_type: as_tensor
207
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRgBmcftU+E/6NkyQxTNBkCxZxtSYRvxv+BTJkcUB8Q/pGR3NJxr9D8gxj04x7jZPw==
208
+ mean:
209
+ batch_dims: []
210
+ decoder:
211
+ batch_dims:
212
+ - arm
213
+ batch_shape:
214
+ - 1
215
+ decoder:
216
+ tensor_decoder_type: default
217
+ type: gs_schemas.data.JointAngles6D
218
+ tensor_decoder_type: as_tensor
219
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19faXI8uQFALQ/lW8x8Bx/AUAp+MTc8jf9v1X+YOhbo4w/8RLKHw2U8z/1uncJ9IGyvw==
220
+ min:
221
+ batch_dims: []
222
+ decoder:
223
+ batch_dims:
224
+ - arm
225
+ batch_shape:
226
+ - 1
227
+ decoder:
228
+ tensor_decoder_type: default
229
+ type: gs_schemas.data.JointAngles6D
230
+ tensor_decoder_type: as_tensor
231
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcjSXlNIiN6/iFD+l4619z/EHo9htykGwPCs+wHFGcC/xMIViUFn7T8ompKruerhvw==
232
+ std:
233
+ batch_dims: []
234
+ decoder:
235
+ batch_dims:
236
+ - arm
237
+ batch_shape:
238
+ - 1
239
+ decoder:
240
+ tensor_decoder_type: default
241
+ type: gs_schemas.data.JointAngles6D
242
+ tensor_decoder_type: as_tensor
243
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fTC2PpRjWsg/17RK4cPd0z+5nqzweurZPyQAS/Cb0aY/9FW2IG1crz+9MfekIuvBPw==
244
+ piper_robot_state.ee_link_pos:
245
+ max:
246
+ batch_dims: []
247
+ decoder:
248
+ batch_dims:
249
+ - arm
250
+ batch_shape:
251
+ - 1
252
+ decoder:
253
+ tensor_decoder_type: default
254
+ type: gs_schemas.data.Position3D
255
+ tensor_decoder_type: as_tensor
256
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
257
+ mean:
258
+ batch_dims: []
259
+ decoder:
260
+ batch_dims:
261
+ - arm
262
+ batch_shape:
263
+ - 1
264
+ decoder:
265
+ tensor_decoder_type: default
266
+ type: gs_schemas.data.Position3D
267
+ tensor_decoder_type: as_tensor
268
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
269
+ min:
270
+ batch_dims: []
271
+ decoder:
272
+ batch_dims:
273
+ - arm
274
+ batch_shape:
275
+ - 1
276
+ decoder:
277
+ tensor_decoder_type: default
278
+ type: gs_schemas.data.Position3D
279
+ tensor_decoder_type: as_tensor
280
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
281
+ std:
282
+ batch_dims: []
283
+ decoder:
284
+ batch_dims:
285
+ - arm
286
+ batch_shape:
287
+ - 1
288
+ decoder:
289
+ tensor_decoder_type: default
290
+ type: gs_schemas.data.Position3D
291
+ tensor_decoder_type: as_tensor
292
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
293
+ piper_robot_state.ee_link_quat:
294
+ max:
295
+ batch_dims: []
296
+ decoder:
297
+ batch_dims:
298
+ - arm
299
+ batch_shape:
300
+ - 1
301
+ decoder:
302
+ tensor_decoder_type: default
303
+ type: gs_schemas.data.Quaternion
304
+ tensor_decoder_type: as_tensor
305
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
306
+ mean:
307
+ batch_dims: []
308
+ decoder:
309
+ batch_dims:
310
+ - arm
311
+ batch_shape:
312
+ - 1
313
+ decoder:
314
+ tensor_decoder_type: default
315
+ type: gs_schemas.data.Quaternion
316
+ tensor_decoder_type: as_tensor
317
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
318
+ min:
319
+ batch_dims: []
320
+ decoder:
321
+ batch_dims:
322
+ - arm
323
+ batch_shape:
324
+ - 1
325
+ decoder:
326
+ tensor_decoder_type: default
327
+ type: gs_schemas.data.Quaternion
328
+ tensor_decoder_type: as_tensor
329
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
330
+ std:
331
+ batch_dims: []
332
+ decoder:
333
+ batch_dims:
334
+ - arm
335
+ batch_shape:
336
+ - 1
337
+ decoder:
338
+ tensor_decoder_type: default
339
+ type: gs_schemas.data.Quaternion
340
+ tensor_decoder_type: as_tensor
341
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
342
+ piper_robot_state.gripper_width:
343
+ max:
344
+ batch_dims: []
345
+ decoder:
346
+ batch_dims:
347
+ - arm
348
+ batch_shape:
349
+ - 1
350
+ decoder:
351
+ tensor_decoder_type: default
352
+ type: gs_schemas.data.GripperWidth
353
+ tensor_decoder_type: as_tensor
354
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
355
+ mean:
356
+ batch_dims: []
357
+ decoder:
358
+ batch_dims:
359
+ - arm
360
+ batch_shape:
361
+ - 1
362
+ decoder:
363
+ tensor_decoder_type: default
364
+ type: gs_schemas.data.GripperWidth
365
+ tensor_decoder_type: as_tensor
366
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
367
+ min:
368
+ batch_dims: []
369
+ decoder:
370
+ batch_dims:
371
+ - arm
372
+ batch_shape:
373
+ - 1
374
+ decoder:
375
+ tensor_decoder_type: default
376
+ type: gs_schemas.data.GripperWidth
377
+ tensor_decoder_type: as_tensor
378
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
379
+ std:
380
+ batch_dims: []
381
+ decoder:
382
+ batch_dims:
383
+ - arm
384
+ batch_shape:
385
+ - 1
386
+ decoder:
387
+ tensor_decoder_type: default
388
+ type: gs_schemas.data.GripperWidth
389
+ tensor_decoder_type: as_tensor
390
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
391
+ piper_robot_state.joint_angles:
392
+ max:
393
+ batch_dims: []
394
+ decoder:
395
+ batch_dims:
396
+ - arm
397
+ batch_shape:
398
+ - 1
399
+ decoder:
400
+ tensor_decoder_type: default
401
+ type: gs_schemas.data.JointAngles6D
402
+ tensor_decoder_type: as_tensor
403
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
404
+ mean:
405
+ batch_dims: []
406
+ decoder:
407
+ batch_dims:
408
+ - arm
409
+ batch_shape:
410
+ - 1
411
+ decoder:
412
+ tensor_decoder_type: default
413
+ type: gs_schemas.data.JointAngles6D
414
+ tensor_decoder_type: as_tensor
415
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
416
+ min:
417
+ batch_dims: []
418
+ decoder:
419
+ batch_dims:
420
+ - arm
421
+ batch_shape:
422
+ - 1
423
+ decoder:
424
+ tensor_decoder_type: default
425
+ type: gs_schemas.data.JointAngles6D
426
+ tensor_decoder_type: as_tensor
427
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
428
+ std:
429
+ batch_dims: []
430
+ decoder:
431
+ batch_dims:
432
+ - arm
433
+ batch_shape:
434
+ - 1
435
+ decoder:
436
+ tensor_decoder_type: default
437
+ type: gs_schemas.data.JointAngles6D
438
+ tensor_decoder_type: as_tensor
439
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
440
+ norm_type: MIN_MAX
441
+ transform_type: normalize_action
442
+ input_observation_transforms:
443
+ - norm_type: MIN_MAX
444
+ state_stats:
445
+ stats:
446
+ ctrl.gripper_width:
447
+ max:
448
+ batch_dims: []
449
+ decoder:
450
+ batch_dims:
451
+ - arm
452
+ batch_shape:
453
+ - 1
454
+ decoder:
455
+ tensor_decoder_type: default
456
+ type: gs_schemas.data.GripperWidth
457
+ tensor_decoder_type: as_tensor
458
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
459
+ mean:
460
+ batch_dims: []
461
+ decoder:
462
+ batch_dims:
463
+ - arm
464
+ batch_shape:
465
+ - 1
466
+ decoder:
467
+ tensor_decoder_type: default
468
+ type: gs_schemas.data.GripperWidth
469
+ tensor_decoder_type: as_tensor
470
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
471
+ min:
472
+ batch_dims: []
473
+ decoder:
474
+ batch_dims:
475
+ - arm
476
+ batch_shape:
477
+ - 1
478
+ decoder:
479
+ tensor_decoder_type: default
480
+ type: gs_schemas.data.GripperWidth
481
+ tensor_decoder_type: as_tensor
482
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
483
+ std:
484
+ batch_dims: []
485
+ decoder:
486
+ batch_dims:
487
+ - arm
488
+ batch_shape:
489
+ - 1
490
+ decoder:
491
+ tensor_decoder_type: default
492
+ type: gs_schemas.data.GripperWidth
493
+ tensor_decoder_type: as_tensor
494
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IEImxWQeq58/
495
+ ctrl.joint_angles:
496
+ max:
497
+ batch_dims: []
498
+ decoder:
499
+ batch_dims:
500
+ - arm
501
+ batch_shape:
502
+ - 1
503
+ decoder:
504
+ tensor_decoder_type: default
505
+ type: gs_schemas.data.JointAngles6D
506
+ tensor_decoder_type: as_tensor
507
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRgBmcftU+E/6NkyQxTNBkCxZxtSYRvxv+BTJkcUB8Q/pGR3NJxr9D8gxj04x7jZPw==
508
+ mean:
509
+ batch_dims: []
510
+ decoder:
511
+ batch_dims:
512
+ - arm
513
+ batch_shape:
514
+ - 1
515
+ decoder:
516
+ tensor_decoder_type: default
517
+ type: gs_schemas.data.JointAngles6D
518
+ tensor_decoder_type: as_tensor
519
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19faXI8uQFALQ/lW8x8Bx/AUAp+MTc8jf9v1X+YOhbo4w/8RLKHw2U8z/1uncJ9IGyvw==
520
+ min:
521
+ batch_dims: []
522
+ decoder:
523
+ batch_dims:
524
+ - arm
525
+ batch_shape:
526
+ - 1
527
+ decoder:
528
+ tensor_decoder_type: default
529
+ type: gs_schemas.data.JointAngles6D
530
+ tensor_decoder_type: as_tensor
531
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcjSXlNIiN6/iFD+l4619z/EHo9htykGwPCs+wHFGcC/xMIViUFn7T8ompKruerhvw==
532
+ std:
533
+ batch_dims: []
534
+ decoder:
535
+ batch_dims:
536
+ - arm
537
+ batch_shape:
538
+ - 1
539
+ decoder:
540
+ tensor_decoder_type: default
541
+ type: gs_schemas.data.JointAngles6D
542
+ tensor_decoder_type: as_tensor
543
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fTC2PpRjWsg/17RK4cPd0z+5nqzweurZPyQAS/Cb0aY/9FW2IG1crz+9MfekIuvBPw==
544
+ piper_robot_state.ee_link_pos:
545
+ max:
546
+ batch_dims: []
547
+ decoder:
548
+ batch_dims:
549
+ - arm
550
+ batch_shape:
551
+ - 1
552
+ decoder:
553
+ tensor_decoder_type: default
554
+ type: gs_schemas.data.Position3D
555
+ tensor_decoder_type: as_tensor
556
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
557
+ mean:
558
+ batch_dims: []
559
+ decoder:
560
+ batch_dims:
561
+ - arm
562
+ batch_shape:
563
+ - 1
564
+ decoder:
565
+ tensor_decoder_type: default
566
+ type: gs_schemas.data.Position3D
567
+ tensor_decoder_type: as_tensor
568
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
569
+ min:
570
+ batch_dims: []
571
+ decoder:
572
+ batch_dims:
573
+ - arm
574
+ batch_shape:
575
+ - 1
576
+ decoder:
577
+ tensor_decoder_type: default
578
+ type: gs_schemas.data.Position3D
579
+ tensor_decoder_type: as_tensor
580
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
581
+ std:
582
+ batch_dims: []
583
+ decoder:
584
+ batch_dims:
585
+ - arm
586
+ batch_shape:
587
+ - 1
588
+ decoder:
589
+ tensor_decoder_type: default
590
+ type: gs_schemas.data.Position3D
591
+ tensor_decoder_type: as_tensor
592
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
593
+ piper_robot_state.ee_link_quat:
594
+ max:
595
+ batch_dims: []
596
+ decoder:
597
+ batch_dims:
598
+ - arm
599
+ batch_shape:
600
+ - 1
601
+ decoder:
602
+ tensor_decoder_type: default
603
+ type: gs_schemas.data.Quaternion
604
+ tensor_decoder_type: as_tensor
605
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
606
+ mean:
607
+ batch_dims: []
608
+ decoder:
609
+ batch_dims:
610
+ - arm
611
+ batch_shape:
612
+ - 1
613
+ decoder:
614
+ tensor_decoder_type: default
615
+ type: gs_schemas.data.Quaternion
616
+ tensor_decoder_type: as_tensor
617
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
618
+ min:
619
+ batch_dims: []
620
+ decoder:
621
+ batch_dims:
622
+ - arm
623
+ batch_shape:
624
+ - 1
625
+ decoder:
626
+ tensor_decoder_type: default
627
+ type: gs_schemas.data.Quaternion
628
+ tensor_decoder_type: as_tensor
629
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
630
+ std:
631
+ batch_dims: []
632
+ decoder:
633
+ batch_dims:
634
+ - arm
635
+ batch_shape:
636
+ - 1
637
+ decoder:
638
+ tensor_decoder_type: default
639
+ type: gs_schemas.data.Quaternion
640
+ tensor_decoder_type: as_tensor
641
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
642
+ piper_robot_state.gripper_width:
643
+ max:
644
+ batch_dims: []
645
+ decoder:
646
+ batch_dims:
647
+ - arm
648
+ batch_shape:
649
+ - 1
650
+ decoder:
651
+ tensor_decoder_type: default
652
+ type: gs_schemas.data.GripperWidth
653
+ tensor_decoder_type: as_tensor
654
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
655
+ mean:
656
+ batch_dims: []
657
+ decoder:
658
+ batch_dims:
659
+ - arm
660
+ batch_shape:
661
+ - 1
662
+ decoder:
663
+ tensor_decoder_type: default
664
+ type: gs_schemas.data.GripperWidth
665
+ tensor_decoder_type: as_tensor
666
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
667
+ min:
668
+ batch_dims: []
669
+ decoder:
670
+ batch_dims:
671
+ - arm
672
+ batch_shape:
673
+ - 1
674
+ decoder:
675
+ tensor_decoder_type: default
676
+ type: gs_schemas.data.GripperWidth
677
+ tensor_decoder_type: as_tensor
678
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
679
+ std:
680
+ batch_dims: []
681
+ decoder:
682
+ batch_dims:
683
+ - arm
684
+ batch_shape:
685
+ - 1
686
+ decoder:
687
+ tensor_decoder_type: default
688
+ type: gs_schemas.data.GripperWidth
689
+ tensor_decoder_type: as_tensor
690
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
691
+ piper_robot_state.joint_angles:
692
+ max:
693
+ batch_dims: []
694
+ decoder:
695
+ batch_dims:
696
+ - arm
697
+ batch_shape:
698
+ - 1
699
+ decoder:
700
+ tensor_decoder_type: default
701
+ type: gs_schemas.data.JointAngles6D
702
+ tensor_decoder_type: as_tensor
703
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
704
+ mean:
705
+ batch_dims: []
706
+ decoder:
707
+ batch_dims:
708
+ - arm
709
+ batch_shape:
710
+ - 1
711
+ decoder:
712
+ tensor_decoder_type: default
713
+ type: gs_schemas.data.JointAngles6D
714
+ tensor_decoder_type: as_tensor
715
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
716
+ min:
717
+ batch_dims: []
718
+ decoder:
719
+ batch_dims:
720
+ - arm
721
+ batch_shape:
722
+ - 1
723
+ decoder:
724
+ tensor_decoder_type: default
725
+ type: gs_schemas.data.JointAngles6D
726
+ tensor_decoder_type: as_tensor
727
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
728
+ std:
729
+ batch_dims: []
730
+ decoder:
731
+ batch_dims:
732
+ - arm
733
+ batch_shape:
734
+ - 1
735
+ decoder:
736
+ tensor_decoder_type: default
737
+ type: gs_schemas.data.JointAngles6D
738
+ tensor_decoder_type: as_tensor
739
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
740
+ transform_type: normalize_observation
741
+ observation_space:
742
+ format: default
743
+ images:
744
+ camera.color_left:
745
+ height: 224
746
+ n_channels: 3
747
+ video_info:
748
+ has_audio: false
749
+ video.codec: h264
750
+ video.fps: 30.0
751
+ video.is_depth_map: false
752
+ video.pix_fmt: yuv420p
753
+ width: 224
754
+ camera.color_right:
755
+ height: 224
756
+ n_channels: 3
757
+ video_info:
758
+ has_audio: false
759
+ video.codec: h264
760
+ video.fps: 30.0
761
+ video.is_depth_map: false
762
+ video.pix_fmt: yuv420p
763
+ width: 224
764
+ names: null
765
+ state:
766
+ piper_robot_state.ee_link_pos:
767
+ dtype: float
768
+ high: .inf
769
+ low: -.inf
770
+ names:
771
+ - arm_1.pos_x
772
+ - arm_1.pos_y
773
+ - arm_1.pos_z
774
+ tensor_decoder:
775
+ batch_dims:
776
+ - arm
777
+ batch_shape:
778
+ - 1
779
+ decoder:
780
+ tensor_decoder_type: default
781
+ type: gs_schemas.data.Position3D
782
+ tensor_decoder_type: as_tensor
783
+ piper_robot_state.ee_link_quat:
784
+ dtype: float
785
+ high: .inf
786
+ low: -.inf
787
+ names:
788
+ - arm_1.quat_w
789
+ - arm_1.quat_x
790
+ - arm_1.quat_y
791
+ - arm_1.quat_z
792
+ tensor_decoder:
793
+ batch_dims:
794
+ - arm
795
+ batch_shape:
796
+ - 1
797
+ decoder:
798
+ tensor_decoder_type: default
799
+ type: gs_schemas.data.Quaternion
800
+ tensor_decoder_type: as_tensor
801
+ piper_robot_state.gripper_width:
802
+ dtype: float
803
+ high: .inf
804
+ low: -.inf
805
+ names:
806
+ - arm_1.gripper_width
807
+ tensor_decoder:
808
+ batch_dims:
809
+ - arm
810
+ batch_shape:
811
+ - 1
812
+ decoder:
813
+ tensor_decoder_type: default
814
+ type: gs_schemas.data.GripperWidth
815
+ tensor_decoder_type: as_tensor
816
+ piper_robot_state.joint_angles:
817
+ dtype: float
818
+ high: .inf
819
+ low: -.inf
820
+ names:
821
+ - arm_1.j0
822
+ - arm_1.j1
823
+ - arm_1.j2
824
+ - arm_1.j3
825
+ - arm_1.j4
826
+ - arm_1.j5
827
+ tensor_decoder:
828
+ batch_dims:
829
+ - arm
830
+ batch_shape:
831
+ - 1
832
+ decoder:
833
+ tensor_decoder_type: default
834
+ type: gs_schemas.data.JointAngles6D
835
+ tensor_decoder_type: as_tensor
836
+ video_info:
837
+ has_audio: false
838
+ video.codec: h264
839
+ video.fps: 10.0
840
+ video.is_depth_map: false
841
+ video.pix_fmt: yuv420p
842
+ output_action_transforms:
843
+ - action_stats:
844
+ stats:
845
+ ctrl.gripper_width:
846
+ max:
847
+ batch_dims: []
848
+ decoder:
849
+ batch_dims:
850
+ - arm
851
+ batch_shape:
852
+ - 1
853
+ decoder:
854
+ tensor_decoder_type: default
855
+ type: gs_schemas.data.GripperWidth
856
+ tensor_decoder_type: as_tensor
857
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
858
+ mean:
859
+ batch_dims: []
860
+ decoder:
861
+ batch_dims:
862
+ - arm
863
+ batch_shape:
864
+ - 1
865
+ decoder:
866
+ tensor_decoder_type: default
867
+ type: gs_schemas.data.GripperWidth
868
+ tensor_decoder_type: as_tensor
869
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
870
+ min:
871
+ batch_dims: []
872
+ decoder:
873
+ batch_dims:
874
+ - arm
875
+ batch_shape:
876
+ - 1
877
+ decoder:
878
+ tensor_decoder_type: default
879
+ type: gs_schemas.data.GripperWidth
880
+ tensor_decoder_type: as_tensor
881
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
882
+ std:
883
+ batch_dims: []
884
+ decoder:
885
+ batch_dims:
886
+ - arm
887
+ batch_shape:
888
+ - 1
889
+ decoder:
890
+ tensor_decoder_type: default
891
+ type: gs_schemas.data.GripperWidth
892
+ tensor_decoder_type: as_tensor
893
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IEImxWQeq58/
894
+ ctrl.joint_angles:
895
+ max:
896
+ batch_dims: []
897
+ decoder:
898
+ batch_dims:
899
+ - arm
900
+ batch_shape:
901
+ - 1
902
+ decoder:
903
+ tensor_decoder_type: default
904
+ type: gs_schemas.data.JointAngles6D
905
+ tensor_decoder_type: as_tensor
906
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRgBmcftU+E/6NkyQxTNBkCxZxtSYRvxv+BTJkcUB8Q/pGR3NJxr9D8gxj04x7jZPw==
907
+ mean:
908
+ batch_dims: []
909
+ decoder:
910
+ batch_dims:
911
+ - arm
912
+ batch_shape:
913
+ - 1
914
+ decoder:
915
+ tensor_decoder_type: default
916
+ type: gs_schemas.data.JointAngles6D
917
+ tensor_decoder_type: as_tensor
918
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19faXI8uQFALQ/lW8x8Bx/AUAp+MTc8jf9v1X+YOhbo4w/8RLKHw2U8z/1uncJ9IGyvw==
919
+ min:
920
+ batch_dims: []
921
+ decoder:
922
+ batch_dims:
923
+ - arm
924
+ batch_shape:
925
+ - 1
926
+ decoder:
927
+ tensor_decoder_type: default
928
+ type: gs_schemas.data.JointAngles6D
929
+ tensor_decoder_type: as_tensor
930
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcjSXlNIiN6/iFD+l4619z/EHo9htykGwPCs+wHFGcC/xMIViUFn7T8ompKruerhvw==
931
+ std:
932
+ batch_dims: []
933
+ decoder:
934
+ batch_dims:
935
+ - arm
936
+ batch_shape:
937
+ - 1
938
+ decoder:
939
+ tensor_decoder_type: default
940
+ type: gs_schemas.data.JointAngles6D
941
+ tensor_decoder_type: as_tensor
942
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fTC2PpRjWsg/17RK4cPd0z+5nqzweurZPyQAS/Cb0aY/9FW2IG1crz+9MfekIuvBPw==
943
+ piper_robot_state.ee_link_pos:
944
+ max:
945
+ batch_dims: []
946
+ decoder:
947
+ batch_dims:
948
+ - arm
949
+ batch_shape:
950
+ - 1
951
+ decoder:
952
+ tensor_decoder_type: default
953
+ type: gs_schemas.data.Position3D
954
+ tensor_decoder_type: as_tensor
955
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
956
+ mean:
957
+ batch_dims: []
958
+ decoder:
959
+ batch_dims:
960
+ - arm
961
+ batch_shape:
962
+ - 1
963
+ decoder:
964
+ tensor_decoder_type: default
965
+ type: gs_schemas.data.Position3D
966
+ tensor_decoder_type: as_tensor
967
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
968
+ min:
969
+ batch_dims: []
970
+ decoder:
971
+ batch_dims:
972
+ - arm
973
+ batch_shape:
974
+ - 1
975
+ decoder:
976
+ tensor_decoder_type: default
977
+ type: gs_schemas.data.Position3D
978
+ tensor_decoder_type: as_tensor
979
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
980
+ std:
981
+ batch_dims: []
982
+ decoder:
983
+ batch_dims:
984
+ - arm
985
+ batch_shape:
986
+ - 1
987
+ decoder:
988
+ tensor_decoder_type: default
989
+ type: gs_schemas.data.Position3D
990
+ tensor_decoder_type: as_tensor
991
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
992
+ piper_robot_state.ee_link_quat:
993
+ max:
994
+ batch_dims: []
995
+ decoder:
996
+ batch_dims:
997
+ - arm
998
+ batch_shape:
999
+ - 1
1000
+ decoder:
1001
+ tensor_decoder_type: default
1002
+ type: gs_schemas.data.Quaternion
1003
+ tensor_decoder_type: as_tensor
1004
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
1005
+ mean:
1006
+ batch_dims: []
1007
+ decoder:
1008
+ batch_dims:
1009
+ - arm
1010
+ batch_shape:
1011
+ - 1
1012
+ decoder:
1013
+ tensor_decoder_type: default
1014
+ type: gs_schemas.data.Quaternion
1015
+ tensor_decoder_type: as_tensor
1016
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
1017
+ min:
1018
+ batch_dims: []
1019
+ decoder:
1020
+ batch_dims:
1021
+ - arm
1022
+ batch_shape:
1023
+ - 1
1024
+ decoder:
1025
+ tensor_decoder_type: default
1026
+ type: gs_schemas.data.Quaternion
1027
+ tensor_decoder_type: as_tensor
1028
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
1029
+ std:
1030
+ batch_dims: []
1031
+ decoder:
1032
+ batch_dims:
1033
+ - arm
1034
+ batch_shape:
1035
+ - 1
1036
+ decoder:
1037
+ tensor_decoder_type: default
1038
+ type: gs_schemas.data.Quaternion
1039
+ tensor_decoder_type: as_tensor
1040
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
1041
+ piper_robot_state.gripper_width:
1042
+ max:
1043
+ batch_dims: []
1044
+ decoder:
1045
+ batch_dims:
1046
+ - arm
1047
+ batch_shape:
1048
+ - 1
1049
+ decoder:
1050
+ tensor_decoder_type: default
1051
+ type: gs_schemas.data.GripperWidth
1052
+ tensor_decoder_type: as_tensor
1053
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
1054
+ mean:
1055
+ batch_dims: []
1056
+ decoder:
1057
+ batch_dims:
1058
+ - arm
1059
+ batch_shape:
1060
+ - 1
1061
+ decoder:
1062
+ tensor_decoder_type: default
1063
+ type: gs_schemas.data.GripperWidth
1064
+ tensor_decoder_type: as_tensor
1065
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
1066
+ min:
1067
+ batch_dims: []
1068
+ decoder:
1069
+ batch_dims:
1070
+ - arm
1071
+ batch_shape:
1072
+ - 1
1073
+ decoder:
1074
+ tensor_decoder_type: default
1075
+ type: gs_schemas.data.GripperWidth
1076
+ tensor_decoder_type: as_tensor
1077
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
1078
+ std:
1079
+ batch_dims: []
1080
+ decoder:
1081
+ batch_dims:
1082
+ - arm
1083
+ batch_shape:
1084
+ - 1
1085
+ decoder:
1086
+ tensor_decoder_type: default
1087
+ type: gs_schemas.data.GripperWidth
1088
+ tensor_decoder_type: as_tensor
1089
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
1090
+ piper_robot_state.joint_angles:
1091
+ max:
1092
+ batch_dims: []
1093
+ decoder:
1094
+ batch_dims:
1095
+ - arm
1096
+ batch_shape:
1097
+ - 1
1098
+ decoder:
1099
+ tensor_decoder_type: default
1100
+ type: gs_schemas.data.JointAngles6D
1101
+ tensor_decoder_type: as_tensor
1102
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
1103
+ mean:
1104
+ batch_dims: []
1105
+ decoder:
1106
+ batch_dims:
1107
+ - arm
1108
+ batch_shape:
1109
+ - 1
1110
+ decoder:
1111
+ tensor_decoder_type: default
1112
+ type: gs_schemas.data.JointAngles6D
1113
+ tensor_decoder_type: as_tensor
1114
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
1115
+ min:
1116
+ batch_dims: []
1117
+ decoder:
1118
+ batch_dims:
1119
+ - arm
1120
+ batch_shape:
1121
+ - 1
1122
+ decoder:
1123
+ tensor_decoder_type: default
1124
+ type: gs_schemas.data.JointAngles6D
1125
+ tensor_decoder_type: as_tensor
1126
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
1127
+ std:
1128
+ batch_dims: []
1129
+ decoder:
1130
+ batch_dims:
1131
+ - arm
1132
+ batch_shape:
1133
+ - 1
1134
+ decoder:
1135
+ tensor_decoder_type: default
1136
+ type: gs_schemas.data.JointAngles6D
1137
+ tensor_decoder_type: as_tensor
1138
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
1139
+ norm_type: MIN_MAX
1140
+ transform_type: denormalize_action
1141
+ output_observation_transforms:
1142
+ - norm_type: MIN_MAX
1143
+ state_stats:
1144
+ stats:
1145
+ ctrl.gripper_width:
1146
+ max:
1147
+ batch_dims: []
1148
+ decoder:
1149
+ batch_dims:
1150
+ - arm
1151
+ batch_shape:
1152
+ - 1
1153
+ decoder:
1154
+ tensor_decoder_type: default
1155
+ type: gs_schemas.data.GripperWidth
1156
+ tensor_decoder_type: as_tensor
1157
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IOxRuB6F67E/
1158
+ mean:
1159
+ batch_dims: []
1160
+ decoder:
1161
+ batch_dims:
1162
+ - arm
1163
+ batch_shape:
1164
+ - 1
1165
+ decoder:
1166
+ tensor_decoder_type: default
1167
+ type: gs_schemas.data.GripperWidth
1168
+ tensor_decoder_type: as_tensor
1169
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IG03xuMr3qc/
1170
+ min:
1171
+ batch_dims: []
1172
+ decoder:
1173
+ batch_dims:
1174
+ - arm
1175
+ batch_shape:
1176
+ - 1
1177
+ decoder:
1178
+ tensor_decoder_type: default
1179
+ type: gs_schemas.data.GripperWidth
1180
+ tensor_decoder_type: as_tensor
1181
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IH8uPODXvzo/
1182
+ std:
1183
+ batch_dims: []
1184
+ decoder:
1185
+ batch_dims:
1186
+ - arm
1187
+ batch_shape:
1188
+ - 1
1189
+ decoder:
1190
+ tensor_decoder_type: default
1191
+ type: gs_schemas.data.GripperWidth
1192
+ tensor_decoder_type: as_tensor
1193
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IEImxWQeq58/
1194
+ ctrl.joint_angles:
1195
+ max:
1196
+ batch_dims: []
1197
+ decoder:
1198
+ batch_dims:
1199
+ - arm
1200
+ batch_shape:
1201
+ - 1
1202
+ decoder:
1203
+ tensor_decoder_type: default
1204
+ type: gs_schemas.data.JointAngles6D
1205
+ tensor_decoder_type: as_tensor
1206
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fRgBmcftU+E/6NkyQxTNBkCxZxtSYRvxv+BTJkcUB8Q/pGR3NJxr9D8gxj04x7jZPw==
1207
+ mean:
1208
+ batch_dims: []
1209
+ decoder:
1210
+ batch_dims:
1211
+ - arm
1212
+ batch_shape:
1213
+ - 1
1214
+ decoder:
1215
+ tensor_decoder_type: default
1216
+ type: gs_schemas.data.JointAngles6D
1217
+ tensor_decoder_type: as_tensor
1218
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19faXI8uQFALQ/lW8x8Bx/AUAp+MTc8jf9v1X+YOhbo4w/8RLKHw2U8z/1uncJ9IGyvw==
1219
+ min:
1220
+ batch_dims: []
1221
+ decoder:
1222
+ batch_dims:
1223
+ - arm
1224
+ batch_shape:
1225
+ - 1
1226
+ decoder:
1227
+ tensor_decoder_type: default
1228
+ type: gs_schemas.data.JointAngles6D
1229
+ tensor_decoder_type: as_tensor
1230
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fcjSXlNIiN6/iFD+l4619z/EHo9htykGwPCs+wHFGcC/xMIViUFn7T8ompKruerhvw==
1231
+ std:
1232
+ batch_dims: []
1233
+ decoder:
1234
+ batch_dims:
1235
+ - arm
1236
+ batch_shape:
1237
+ - 1
1238
+ decoder:
1239
+ tensor_decoder_type: default
1240
+ type: gs_schemas.data.JointAngles6D
1241
+ tensor_decoder_type: as_tensor
1242
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fTC2PpRjWsg/17RK4cPd0z+5nqzweurZPyQAS/Cb0aY/9FW2IG1crz+9MfekIuvBPw==
1243
+ piper_robot_state.ee_link_pos:
1244
+ max:
1245
+ batch_dims: []
1246
+ decoder:
1247
+ batch_dims:
1248
+ - arm
1249
+ batch_shape:
1250
+ - 1
1251
+ decoder:
1252
+ tensor_decoder_type: default
1253
+ type: gs_schemas.data.Position3D
1254
+ tensor_decoder_type: as_tensor
1255
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fYpUu0EG1uM/WJUdbhRc0j9ckUyL+VvJPw==
1256
+ mean:
1257
+ batch_dims: []
1258
+ decoder:
1259
+ batch_dims:
1260
+ - arm
1261
+ batch_shape:
1262
+ - 1
1263
+ decoder:
1264
+ tensor_decoder_type: default
1265
+ type: gs_schemas.data.Position3D
1266
+ tensor_decoder_type: as_tensor
1267
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fWppgl3rXdw/D9RG7Uy0pT+zJi/hEnGqPw==
1268
+ min:
1269
+ batch_dims: []
1270
+ decoder:
1271
+ batch_dims:
1272
+ - arm
1273
+ batch_shape:
1274
+ - 1
1275
+ decoder:
1276
+ tensor_decoder_type: default
1277
+ type: gs_schemas.data.Position3D
1278
+ tensor_decoder_type: as_tensor
1279
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19far8vjVrdNE/VZge4kKSz7+Yo+A0EOqnvw==
1280
+ std:
1281
+ batch_dims: []
1282
+ decoder:
1283
+ batch_dims:
1284
+ - arm
1285
+ batch_shape:
1286
+ - 1
1287
+ decoder:
1288
+ tensor_decoder_type: default
1289
+ type: gs_schemas.data.Position3D
1290
+ tensor_decoder_type: as_tensor
1291
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwzXSwiZGF0YV9vZmZzZXRzIjpbMCwyNF19fZOl1+MyF7U/yYlFnrQDuD+V/5IW1V+qPw==
1292
+ piper_robot_state.ee_link_quat:
1293
+ max:
1294
+ batch_dims: []
1295
+ decoder:
1296
+ batch_dims:
1297
+ - arm
1298
+ batch_shape:
1299
+ - 1
1300
+ decoder:
1301
+ tensor_decoder_type: default
1302
+ type: gs_schemas.data.Quaternion
1303
+ tensor_decoder_type: as_tensor
1304
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fddH5KUMeM8/oa2wYpxVsz/MIBtl+P/vP4VtqjnwNLg/
1305
+ mean:
1306
+ batch_dims: []
1307
+ decoder:
1308
+ batch_dims:
1309
+ - arm
1310
+ batch_shape:
1311
+ - 1
1312
+ decoder:
1313
+ tensor_decoder_type: default
1314
+ type: gs_schemas.data.Quaternion
1315
+ tensor_decoder_type: as_tensor
1316
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSc1z9nJR6o/bH4z7ctlsr8Fxfb7GbrvP2DfirCbF4I/
1317
+ min:
1318
+ batch_dims: []
1319
+ decoder:
1320
+ batch_dims:
1321
+ - arm
1322
+ batch_shape:
1323
+ - 1
1324
+ decoder:
1325
+ tensor_decoder_type: default
1326
+ type: gs_schemas.data.Quaternion
1327
+ tensor_decoder_type: as_tensor
1328
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fYl5Uk+dF8C/uYT5QW8p1L+h0a3O507uP7Zc7WCGdrO/
1329
+ std:
1330
+ batch_dims: []
1331
+ decoder:
1332
+ batch_dims:
1333
+ - arm
1334
+ batch_shape:
1335
+ - 1
1336
+ decoder:
1337
+ tensor_decoder_type: default
1338
+ type: gs_schemas.data.Quaternion
1339
+ tensor_decoder_type: as_tensor
1340
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw0XSwiZGF0YV9vZmZzZXRzIjpbMCwzMl19fSphgXjGHLA/oGiNvvs1sT9idonlzJSBP4mk/SdPO5g/
1341
+ piper_robot_state.gripper_width:
1342
+ max:
1343
+ batch_dims: []
1344
+ decoder:
1345
+ batch_dims:
1346
+ - arm
1347
+ batch_shape:
1348
+ - 1
1349
+ decoder:
1350
+ tensor_decoder_type: default
1351
+ type: gs_schemas.data.GripperWidth
1352
+ tensor_decoder_type: as_tensor
1353
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IHbgnBGlvbE/
1354
+ mean:
1355
+ batch_dims: []
1356
+ decoder:
1357
+ batch_dims:
1358
+ - arm
1359
+ batch_shape:
1360
+ - 1
1361
+ decoder:
1362
+ tensor_decoder_type: default
1363
+ type: gs_schemas.data.GripperWidth
1364
+ tensor_decoder_type: as_tensor
1365
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IKKJUMzG56c/
1366
+ min:
1367
+ batch_dims: []
1368
+ decoder:
1369
+ batch_dims:
1370
+ - arm
1371
+ batch_shape:
1372
+ - 1
1373
+ decoder:
1374
+ tensor_decoder_type: default
1375
+ type: gs_schemas.data.GripperWidth
1376
+ tensor_decoder_type: as_tensor
1377
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IIQqNXugFWg/
1378
+ std:
1379
+ batch_dims: []
1380
+ decoder:
1381
+ batch_dims:
1382
+ - arm
1383
+ batch_shape:
1384
+ - 1
1385
+ decoder:
1386
+ tensor_decoder_type: default
1387
+ type: gs_schemas.data.GripperWidth
1388
+ tensor_decoder_type: as_tensor
1389
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSwxXSwiZGF0YV9vZmZzZXRzIjpbMCw4XX19IO0Gs5tALZ4/
1390
+ piper_robot_state.joint_angles:
1391
+ max:
1392
+ batch_dims: []
1393
+ decoder:
1394
+ batch_dims:
1395
+ - arm
1396
+ batch_shape:
1397
+ - 1
1398
+ decoder:
1399
+ tensor_decoder_type: default
1400
+ type: gs_schemas.data.JointAngles6D
1401
+ tensor_decoder_type: as_tensor
1402
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fQ7hfR+USeE/yHPjJIzIBkCXwmQ6bkPxv7vHKnPmccM/hetRuB6F8z8d2zFKTEbZPw==
1403
+ mean:
1404
+ batch_dims: []
1405
+ decoder:
1406
+ batch_dims:
1407
+ - arm
1408
+ batch_shape:
1409
+ - 1
1410
+ decoder:
1411
+ tensor_decoder_type: default
1412
+ type: gs_schemas.data.JointAngles6D
1413
+ tensor_decoder_type: as_tensor
1414
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fVz2pGy9ibQ/cQskQ6qBAUAXfq/ew0H9vzzYT4HHUZA/UFnDmAUV8z+RdzCWCvKxvw==
1415
+ min:
1416
+ batch_dims: []
1417
+ decoder:
1418
+ batch_dims:
1419
+ - arm
1420
+ batch_shape:
1421
+ - 1
1422
+ decoder:
1423
+ tensor_decoder_type: default
1424
+ type: gs_schemas.data.JointAngles6D
1425
+ tensor_decoder_type: as_tensor
1426
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fYZgQsk0KN6/1GGw6Z7J9z+15DXSHyUGwK+WrXffm7y/kpSF1ve27T+kwodk6YHhvw==
1427
+ std:
1428
+ batch_dims: []
1429
+ decoder:
1430
+ batch_dims:
1431
+ - arm
1432
+ batch_shape:
1433
+ - 1
1434
+ decoder:
1435
+ tensor_decoder_type: default
1436
+ type: gs_schemas.data.JointAngles6D
1437
+ tensor_decoder_type: as_tensor
1438
+ tensor: OAAAAAAAAAB7IiI6eyJkdHlwZSI6IkY2NCIsInNoYXBlIjpbMSw2XSwiZGF0YV9vZmZzZXRzIjpbMCw0OF19fXUUOC3BP8g/iajQVNHT0z81KV7eKJ7ZP4OTFUZghKU/V6cqhnxRpj/IgJePo6DBPw==
1439
+ transform_type: denormalize_observation
1440
+ processor_type: vla
1441
+ vlm_processor_args:
1442
+ annotation_formatter_args:
1443
+ formatter_type: COMPACT_DISCRETE
1444
+ bottleneck: null
1445
+ decoder_attention_args:
1446
+ pattern: PREFIX_LM
1447
+ image_preprocess_args:
1448
+ interpolation_mode: BICUBIC
1449
+ max_image_size: 224
1450
+ patch_size: 14
1451
+ pooling_factor_per_dim: 1
1452
+ resize_mode: FIXED
1453
+ rgb_normalization: SIGLIP
1454
+ instruct_template_args:
1455
+ template_type: GENESIS
1456
+ processor_type: vlm
1457
+ tokenizer_args:
1458
+ tokenizer_type: PALIGEMMA
1459
+ total_parameter_count: 3450244848
1460
+ use_output_biases: false
1461
+ vocab_size: 257216