| model_type: actioncodec2_unified | |
| config_version: 1 | |
| physical: | |
| input_dim: 7 | |
| components: | |
| translation_m: | |
| dims: | |
| start: 0 | |
| stop: 3 | |
| space: additive | |
| input_order: 0 | |
| primitive_order: 2 | |
| input_transform: | |
| scale: 1.0 | |
| clip: false | |
| constraints: | |
| order_0: | |
| min: -2.0 | |
| max: 2.0 | |
| order_2: | |
| min: -0.025 | |
| max: 0.025 | |
| order_1: | |
| min: -0.08 | |
| max: 0.08 | |
| distortion_limit: 0.005 | |
| primitive_selection: smooth | |
| orientation_so3: | |
| dims: | |
| start: 3 | |
| stop: 6 | |
| space: so3 | |
| input_order: 0 | |
| primitive_order: 2 | |
| input_transform: | |
| scale: 1.0 | |
| clip: false | |
| constraints: | |
| order_0: | |
| min: -3.141592653589793 | |
| max: 3.141592653589793 | |
| order_2: | |
| min: -0.08 | |
| max: 0.08 | |
| order_1: | |
| min: -0.25 | |
| max: 0.25 | |
| distortion_limit: 0.02 | |
| primitive_selection: smooth | |
| representation: rotation_vector | |
| multiplication: right | |
| gripper_open_command: | |
| dims: | |
| - 6 | |
| space: additive | |
| input_order: 0 | |
| primitive_order: 0 | |
| input_transform: | |
| scale: 1.0 | |
| clip: true | |
| constraints: | |
| order_0: | |
| min: 0.0 | |
| max: 1.0 | |
| distortion_limit: 0.5 | |
| primitive_selection: nearest | |
| set_bpe: | |
| lookahead: 8 | |
| allow_cross_component_merge: false | |
| train: | |
| primitives: | |
| zero_primitive_components: | |
| - translation_m | |
| - orientation_so3 | |
| bpe: | |
| spatial_vocab_size: 2048 | |
| vocab_size: 4096 | |
| quality_control: | |
| hard_order_1_scale: 3.0 | |
| min_segment_length: 2 | |