| { | |
| "camera_keys": [ | |
| "cam_high", | |
| "cam_left_wrist", | |
| "cam_right_wrist" | |
| ], | |
| "input_rgb_dtype": "uint8", | |
| "input_rgb_order": "RGB", | |
| "training_raw_shape": [ | |
| 3, | |
| 240, | |
| 320 | |
| ], | |
| "vggt_image_size": 256, | |
| "vggt_spatial_preprocess": "fastwam.datasets.lerobot.processors.fastwam_processor.prepare_vggt_images", | |
| "vggt_value_range": [ | |
| 0, | |
| 1 | |
| ], | |
| "action_dim": 14, | |
| "state_dim": 14, | |
| "action_horizon": 32, | |
| "replan_steps": 24, | |
| "normalization": "z-score; use included dataset_stats.json", | |
| "stats_sha256": "9352f5a0c6fa06183f0b72c86c645b1f952023791e07e426c60228db229f1e17", | |
| "reconstruction_target": "future", | |
| "future_frame_offset": 32, | |
| "random_augmentation_in_inference": false, | |
| "context_len": 128, | |
| "language_mask": "original tokenizer padding mask; distinct from action branch all-ones mask" | |
| } |