| { |
| "policy_id": "flower_vla:calvin", |
| "robot_type": "ffw_sg2_rev1", |
| "checkpoint": "model.ckpt", |
| "base_model": "microsoft/Florence-2-large", |
| "cameras": [ |
| "observation.images.rgb.cam_left_head", |
| "observation.images.rgb.cam_left_wrist", |
| "observation.images.rgb.cam_right_wrist" |
| ], |
| "state_names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z" |
| ], |
| "action_names": [ |
| "arm_l_joint1", |
| "arm_l_joint2", |
| "arm_l_joint3", |
| "arm_l_joint4", |
| "arm_l_joint5", |
| "arm_l_joint6", |
| "arm_l_joint7", |
| "gripper_l_joint1", |
| "arm_r_joint1", |
| "arm_r_joint2", |
| "arm_r_joint3", |
| "arm_r_joint4", |
| "arm_r_joint5", |
| "arm_r_joint6", |
| "arm_r_joint7", |
| "gripper_r_joint1", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint", |
| "linear_x", |
| "linear_y", |
| "angular_z" |
| ], |
| "action_horizon": 10, |
| "use_ema": true |
| } |
|
|
