{ "recipe": { "version": 1, "source_fps": 50, "target_fps": 12.5, "stride": 4, "phases": [ 0, 1, 2, 3 ], "action_horizon": 64, "action_chunk_size": 16, "max_action_offset": 15, "video_plan_horizon": 96, "num_history_frames": 0, "short_episodes": "pad_mask", "slots": [ 0, 1, 2, 3, 4, 5, 16, 17, 18, 19, 20, 21, 22, 33 ], "domain": { "name": "robotwin_wam/aloha", "dataset": "robotwin_wam", "embodiment": "aloha", "action_dim": 37, "proprio_dim": 37, "action_valid_indices": [ 0, 1, 2, 3, 4, 5, 16, 17, 18, 19, 20, 21, 22, 33 ], "proprio_valid_indices": [ 0, 1, 2, 3, 4, 5, 16, 17, 18, 19, 20, 21, 22, 33 ], "raw_joint_names": [ "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper", "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper" ], "action_semantics": "native_absolute_joint_command_interval_end" }, "normalization": "bounds_q99_minmax_degenerate_clip5", "sigma": 1e-08, "camera_layout": "cover_center_crop_main_top_wrists_bottom_384x320", "text": "episode_first_instruction_default_prompt_128_wan22ti2v5b" }, "metadata_sha256": "d8c99dd4b45863db2fe75d3696c95db6c688825cab4b1943a0eca9da309eaa14", "split_seed": 42, "val_set_proportion": 0.01, "train_episodes": 27211, "validation_episodes": 289, "position_selection": "union_all_reachable_phase_tick_no_padding", "quantile_method": "exact_numpy_linear", "action": { "q01": [ -1.0140698742866516, -5.257390398583084e-07, -2.8215323254698887e-05, -1.5654018807411194, -0.6526569128036499, -2.244248390197754, 0.0, -0.17073591053485865, 0.0, -2.81171942333458e-05, -1.643247127532959, -1.0229510366916656, -1.6511319875717163, 0.0 ], "q99": [ 0.1752351583540443, 2.6041468834877026, 2.4533203792572023, 1.353671669960022, 1.2412916243076326, 1.6073329448699951, 1.0, 0.9993273699283601, 2.6201953887939453, 2.4566872930526755, 1.2929900884628296, 0.8795969319343577, 2.2707862854003906, 1.0 ], "minmax_bounds": {}, "valid_count": [ 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064 ] }, "proprio": { "q01": [ -1.0111620330810547, -5.257390398583084e-07, -2.8215323254698887e-05, -1.5593566298484802, -0.6442099583148955, -2.1980535268783568, 0.0, -0.16748306155204773, 0.0, -2.81171942333458e-05, -1.6394091844558716, -1.019789218902588, -1.636252999305725, 0.0 ], "q99": [ 0.17338477075099945, 2.6028459405899054, 2.4485902786254883, 1.3484575748443604, 1.2309294545650493, 1.6027854681015015, 1.0, 0.995289080142975, 2.6140525341033936, 2.447256555557251, 1.2846942448616037, 0.873724102973938, 2.244937205314637, 1.0 ], "minmax_bounds": {}, "valid_count": [ 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064, 5902064 ] } }