openvla-v01-7b / config.json
skaramcheti's picture
Upload OpenVLAForActionPrediction
c9cce58 verified
{
"arch_specifier": "no-align+gelu-mlp",
"architectures": [
"OpenVLAForActionPrediction"
],
"auto_map": {
"AutoConfig": "configuration_prismatic.OpenVLAConfig",
"AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction"
},
"hf_llm_id": "lmsys/vicuna-7b-v1.5",
"image_resize_strategy": "letterbox",
"image_sizes": [
224
],
"llm_backbone_id": "vicuna-v15-7b",
"llm_max_length": 2048,
"model_type": "openvla",
"n_action_bins": 256,
"norm_stats": {
"austin_buds_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.0,
1.0,
1.0,
0.0,
0.0,
0.0,
1.0
],
"mean": [
-0.07678340375423431,
0.0036849165335297585,
0.05644930154085159,
0.0,
0.0,
0.0,
0.3510494828224182
],
"min": [
-1.0,
-1.0,
-1.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-1.0,
-0.9599999785423279,
-0.8714285492897034,
0.0,
0.0,
0.0,
0.0
],
"q99": [
1.0,
0.8600000143051147,
1.0,
0.0,
0.0,
0.0,
1.0
],
"std": [
0.6367747187614441,
0.37889206409454346,
0.4779629707336426,
0.0,
0.0,
0.0,
0.4772103726863861
]
},
"num_trajectories": 50,
"num_transitions": 34112,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"austin_sailor_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.0,
1.0,
1.0,
0.0,
0.0,
0.375,
1.0
],
"mean": [
0.011825354769825935,
0.006461047101765871,
0.0602366104722023,
0.0,
0.0,
0.0016465840162709355,
0.5260950326919556
],
"min": [
-1.0,
-1.0,
-1.0,
0.0,
0.0,
-0.375,
0.0
],
"q01": [
-1.0,
-0.9828571677207947,
-0.6000000238418579,
0.0,
0.0,
-0.17249999940395355,
0.0
],
"q99": [
1.0,
0.9457142949104309,
1.0,
0.0,
0.0,
0.17892856895923615,
1.0
],
"std": [
0.4634874761104584,
0.4124014973640442,
0.4118630886077881,
0.0,
0.0,
0.05786101892590523,
0.498939573764801
]
},
"num_trajectories": 240,
"num_transitions": 353094,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"austin_sirius_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.0002285242080688,
0.960608720779419,
1.105179786682129,
0.0,
0.0,
0.341785728931427,
1.0
],
"mean": [
0.07747692614793777,
0.03195551782846451,
0.042447373270988464,
0.0,
0.0,
-0.01603454165160656,
0.43260183930397034
],
"min": [
-1.0183025598526,
-0.9800000190734863,
-0.9774575233459473,
0.0,
0.0,
-0.34607142210006714,
0.0
],
"q01": [
-0.780905865430832,
-0.5667179036140442,
-0.5254343223571777,
0.0,
0.0,
-0.28495091378688814,
0.0
],
"q99": [
0.9569637751579284,
0.6971374487876891,
0.8124888157844541,
0.0,
0.0,
0.1971428543329239,
1.0
],
"std": [
0.3906329870223999,
0.2998153865337372,
0.2782270610332489,
0.0,
0.0,
0.08120633661746979,
0.49528196454048157
]
},
"num_trajectories": 559,
"num_transitions": 279939,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"berkeley_autolab_ur5": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.019999999552965164,
0.019999999552965164,
0.019999999552965164,
0.06666667014360428,
0.06666667014360428,
0.06666667014360428,
1.0
],
"mean": [
0.0005683620111085474,
0.0012176961172372103,
-0.000529638840816915,
0.0002102979924529791,
6.069548908271827e-05,
0.0012049867073073983,
0.6298308372497559
],
"min": [
-0.019999999552965164,
-0.019999999552965164,
-0.019999999552965164,
-0.06666667014360428,
-0.06666667014360428,
-0.06666667014360428,
0.0
],
"q01": [
-0.019999999552965164,
-0.019999999552965164,
-0.019999999552965164,
-0.02628571353852749,
-0.06666667014360428,
-0.03847619146108627,
0.0
],
"q99": [
0.019999999552965164,
0.019999999552965164,
0.019999999552965164,
0.031809523701667786,
0.06666667014360428,
0.036571428179740906,
1.0
],
"std": [
0.011533079668879509,
0.007990499027073383,
0.009577790275216103,
0.009433005005121231,
0.016427572816610336,
0.0110540259629488,
0.48267868161201477
]
},
"num_trajectories": 1000,
"num_transitions": 97939,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"berkeley_cable_routing": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.9633283019065857,
1.0,
1.0,
0.0,
0.0,
1.0,
0.0
],
"mean": [
-0.07139848917722702,
0.023609010502696037,
0.10241983085870743,
0.0,
0.0,
0.04967110604047775,
0.0
],
"min": [
-0.9809081554412842,
-0.9554349184036255,
-0.9994775056838989,
0.0,
0.0,
-1.0,
0.0
],
"q01": [
-0.5534318816661835,
-0.4797285574674606,
-0.5314934802055359,
0.0,
0.0,
-0.8855219376087189,
0.0
],
"q99": [
0.42652835428714786,
0.5000944086909298,
0.639823433756829,
0.0,
0.0,
0.984243879914284,
0.0
],
"std": [
0.18155041337013245,
0.18109875917434692,
0.2122076451778412,
0.0,
0.0,
0.347551554441452,
0.0
]
},
"num_trajectories": 1647,
"num_transitions": 42328,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"berkeley_fanuc_manipulation": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.009999999776482582,
0.009999999776482582,
0.009999999776482582,
0.03490658476948738,
0.03490658476948738,
0.03490658476948738,
1.0
],
"mean": [
0.0007744057802483439,
-0.00031240080716088414,
-0.0015001941937953234,
-0.0007515158504247665,
-0.00015832878125365824,
0.00014327642566058785,
0.699295699596405
],
"min": [
-0.009999999776482582,
-0.009999999776482582,
-0.009999999776482582,
-0.03490658476948738,
-0.03490658476948738,
-0.03490658476948738,
0.0
],
"q01": [
-0.009999999776482582,
-0.009999999776482582,
-0.009999999776482582,
-0.03490658476948738,
0.0,
-0.03490658476948738,
0.0
],
"q99": [
0.009999999776482582,
0.009999999776482582,
0.009999999776482582,
0.03490658476948738,
0.0,
0.03490658476948738,
1.0
],
"std": [
0.003407012205570936,
0.00499218562617898,
0.0053443326614797115,
0.007598980329930782,
0.004081868566572666,
0.008568969555199146,
0.45869216322898865
]
},
"num_trajectories": 415,
"num_transitions": 62613,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"bridge_orig": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.41691166162490845,
0.25864794850349426,
0.21218234300613403,
3.122201919555664,
1.8618112802505493,
6.280478477478027,
1.0
],
"mean": [
0.0002334186137886718,
0.00013004893844481558,
-0.00012762333790306002,
-0.00015565543435513973,
-0.0004039343912154436,
0.00023557679378427565,
0.5764579176902771
],
"min": [
-0.4007510244846344,
-0.13874775171279907,
-0.22553899884223938,
-3.2010786533355713,
-1.8618112802505493,
-6.279075622558594,
0.0
],
"q01": [
-0.02872725307941437,
-0.04170349963009357,
-0.026093858778476715,
-0.08092105075716972,
-0.09288699507713317,
-0.20718276381492615,
0.0
],
"q99": [
0.028309678435325586,
0.040855254605412394,
0.040161586627364146,
0.08192047759890528,
0.07792850524187081,
0.20382574498653397,
1.0
],
"std": [
0.009765932336449623,
0.013689137995243073,
0.01266736164689064,
0.02853437140583992,
0.030637983232736588,
0.07691480964422226,
0.49737006425857544
]
},
"num_trajectories": 60064,
"num_transitions": 2135463,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"cmu_stretch": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.02338407188653946,
0.0,
0.023404927924275398,
0.0,
0.0,
0.0,
1.0
],
"mean": [
0.0003630456340033561,
0.0,
0.0016466964734718204,
0.0,
0.0,
0.0,
0.3987048268318176
],
"min": [
-0.019353797659277916,
0.0,
-0.02019215188920498,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-0.011175686959177256,
0.0,
-0.0032206363626755773,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.014501785952597848,
0.0,
0.015056106168776728,
0.0,
0.0,
0.0,
1.0
],
"std": [
0.0040818313136696815,
0.0,
0.0037743346765637398,
0.0,
0.0,
0.0,
0.48963701725006104
]
},
"num_trajectories": 135,
"num_transitions": 25016,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"dlr_edan_shared_control_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.18991442024707794,
0.0739002525806427,
0.18064819276332855,
0.0866486132144928,
0.13464981317520142,
0.16910280287265778,
1.0
],
"mean": [
0.006647809408605099,
-0.0007657341775484383,
0.006522852927446365,
0.0011679749004542828,
-0.00639563100412488,
-0.01190299540758133,
0.6985887289047241
],
"min": [
-0.10054297000169754,
-0.08427435159683228,
-0.13533438742160797,
-0.17556548118591309,
-0.18485672771930695,
-0.2680685818195343,
0.0
],
"q01": [
-0.02987122368067503,
-0.06013262912631035,
-0.08286409199237824,
-0.05924444157630205,
-0.15986866518855095,
-0.15636983573436739,
0.0
],
"q99": [
0.08832092039287087,
0.042126184627413736,
0.11311905644834042,
0.0643695573508739,
0.03941855944693088,
0.156646853685379,
1.0
],
"std": [
0.021393615752458572,
0.01814231462776661,
0.03374376520514488,
0.01743542030453682,
0.03394375741481781,
0.04641874507069588,
0.45885851979255676
]
},
"num_trajectories": 104,
"num_transitions": 8928,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"fractal20220817_data": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
2.9984593391418457,
22.09052848815918,
2.7507524490356445,
1.570636510848999,
1.5321086645126343,
1.5691522359848022,
1.0
],
"mean": [
0.006987547967582941,
0.006265880540013313,
-0.012625104747712612,
0.04333260655403137,
-0.0057562184520065784,
0.0009130218531936407,
0.5354204773902893
],
"min": [
-2.0204520225524902,
-5.497899532318115,
-2.031663417816162,
-1.569917917251587,
-1.569892168045044,
-1.570419430732727,
0.0
],
"q01": [
-0.22453527510166169,
-0.14820013284683228,
-0.231589707583189,
-0.3517994859814644,
-0.4193011274933815,
-0.43643461108207704,
0.0
],
"q99": [
0.17824687153100965,
0.14938379630446405,
0.21842354819178575,
0.5892666035890578,
0.35272657424211445,
0.44796681255102094,
1.0
],
"std": [
0.06921133399009705,
0.059710025787353516,
0.07353059202432632,
0.15610475838184357,
0.13164421916007996,
0.1459382325410843,
0.49711596965789795
]
},
"num_trajectories": 87212,
"num_transitions": 3786400,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"furniture_bench_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.10000000149011612,
0.10000000149011612,
0.10000000149011612,
0.8651833534240723,
1.0909736156463623,
2.863185405731201,
1.0
],
"mean": [
0.00014610808284487575,
0.001083097537048161,
0.0006224980461411178,
-0.003303212346509099,
-0.0026880521327257156,
0.0182427279651165,
0.48854944109916687
],
"min": [
-0.10495579987764359,
-0.10939455777406693,
-0.10000000149011612,
-0.971906840801239,
-1.0475432872772217,
-3.06000018119812,
0.0
],
"q01": [
-0.053988199681043625,
-0.05049169331789017,
-0.032499241530895236,
-0.1953887003660202,
-0.41674559473991396,
-0.8886768054962159,
0.0
],
"q99": [
0.05414841488003723,
0.04965164884924884,
0.060055799782276154,
0.18231668293476103,
0.39867786407470646,
0.8772024297714229,
1.0
],
"std": [
0.016107218340039253,
0.014891542494297028,
0.014014170505106449,
0.05827414616942406,
0.11417055130004883,
0.3347947597503662,
0.4999140202999115
]
},
"num_trajectories": 5100,
"num_transitions": 3948057,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"iamlab_cmu_pickup_insert_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.6634981632232666,
0.23428471386432648,
0.4308285415172577,
3.1415927410125732,
0.13647015392780304,
3.141592502593994,
1.0
],
"mean": [
0.527437150478363,
0.028581993654370308,
0.18712475895881653,
1.2339566946029663,
0.03226624056696892,
-1.4199475049972534,
0.5550631880760193
],
"min": [
0.3071657121181488,
-0.29754969477653503,
0.06578229367733002,
-3.1415927410125732,
-0.04584203287959099,
-3.141592502593994,
0.0
],
"q01": [
0.3148897051811218,
-0.20317550599575043,
0.06785467118024827,
-3.140952730178833,
-0.029743434861302376,
-3.141091251373291,
0.0
],
"q99": [
0.6472805738449097,
0.20846802592277527,
0.36855655312538155,
3.1409926891326903,
0.11424950212240226,
3.1410969257354737,
1.0
],
"std": [
0.08108348399400711,
0.11167570948600769,
0.07747555524110794,
2.8737246990203857,
0.02774703875184059,
2.767878532409668,
0.49695104360580444
]
},
"num_trajectories": 631,
"num_transitions": 146241,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"jaco_play": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.20000000298023224,
0.20000000298023224,
0.20000000298023224,
0.0,
0.0,
0.0,
1.0
],
"mean": [
0.0009658169583417475,
-0.005800838582217693,
-0.003950645215809345,
0.0,
0.0,
0.0,
0.34934908151626587
],
"min": [
-0.20000000298023224,
-0.20000000298023224,
-0.20000000298023224,
0.0,
0.0,
0.0,
0.0
],
"q01": [
-0.20000000298023224,
-0.20000000298023224,
-0.20000000298023224,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.20000000298023224,
0.20000000298023224,
0.20000000298023224,
0.0,
0.0,
0.0,
1.0
],
"std": [
0.12234993278980255,
0.09678781777620316,
0.11155442893505096,
0.0,
0.0,
0.0,
0.47682487964630127
]
},
"num_trajectories": 1085,
"num_transitions": 77965,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"kuka": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.1697135865688324,
0.2777623236179352,
0.43710532784461975,
0.0,
0.0,
1.9684287309646606,
1.0
],
"mean": [
-0.0004668939800467342,
0.0004013851284980774,
-0.0012807842576876283,
0.0,
0.0,
-0.037224702537059784,
0.4131543040275574
],
"min": [
-0.159867063164711,
-0.2892282009124756,
-0.2795473635196686,
0.0,
0.0,
-1.9875637292861938,
0.0
],
"q01": [
-0.06619441494345665,
-0.08713878810405731,
-0.15083016991615295,
0.0,
0.0,
-0.5415697038173676,
0.0
],
"q99": [
0.06601839080452929,
0.08732476785779003,
0.18168179214000715,
0.0,
0.0,
0.2923380345106127,
1.0
],
"std": [
0.02083253674209118,
0.02915879152715206,
0.0642285943031311,
0.0,
0.0,
0.1422431617975235,
0.49086302518844604
]
},
"num_trajectories": 209880,
"num_transitions": 2455879,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"language_table": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.23357294499874115,
0.24496802687644958,
0.0,
0.0,
0.0,
0.0,
1.0
],
"mean": [
0.00014892208855599165,
-0.0005636717542074621,
0.0,
0.0,
0.0,
0.0,
1.0
],
"min": [
-0.21989956498146057,
-0.23736150562763214,
0.0,
0.0,
0.0,
0.0,
1.0
],
"q01": [
-0.08179590478539467,
-0.11795833334326744,
0.0,
0.0,
0.0,
0.0,
1.0
],
"q99": [
0.08822273463010788,
0.1191693339496851,
0.0,
0.0,
0.0,
0.0,
1.0
],
"std": [
0.03016294538974762,
0.04230768606066704,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"num_trajectories": 442226,
"num_transitions": 7045476,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"nyu_franka_play_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.06424188613891602,
0.07027634978294373,
0.06129661202430725,
6.281067848205566,
0.1967729926109314,
0.26377415657043457,
1.0
],
"mean": [
0.001021989737637341,
-0.00012002653966192156,
0.00032894223113544285,
0.0015034304233267903,
-0.002198528964072466,
-0.0016632305923849344,
0.7230083346366882
],
"min": [
-0.05952230095863342,
-0.07232445478439331,
-0.06730806827545166,
-6.278434753417969,
-0.21479034423828125,
-0.3627619743347168,
0.0
],
"q01": [
-0.03199600875377655,
-0.032861671447753905,
-0.03368805110454559,
-0.12080862045288086,
-0.12175218224525451,
-0.11370223641395569,
0.0
],
"q99": [
0.03101520001888276,
0.0373908892273903,
0.03646374464035038,
0.11764093399047852,
0.1258920183777809,
0.09366151213645942,
1.0
],
"std": [
0.013274148106575012,
0.013215919025242329,
0.012822114862501621,
0.2732452154159546,
0.05702254921197891,
0.03917282819747925,
0.44753018021583557
]
},
"num_trajectories": 456,
"num_transitions": 44875,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"roboturk": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.39124172925949097,
0.4601028263568878,
0.4870833456516266,
1.816888689994812,
1.8240282535552979,
1.4824820756912231,
1.0
],
"mean": [
0.00144486827775836,
-0.0015945290215313435,
-0.0011753799626603723,
0.002301229629665613,
-0.0009382478310726583,
-0.00011485817958600819,
0.5746025443077087
],
"min": [
-0.6546999216079712,
-0.6365841031074524,
-0.4217723608016968,
-1.6695482730865479,
-1.8023357391357422,
-1.4630827903747559,
0.0
],
"q01": [
-0.1342635464668274,
-0.19996687173843383,
-0.1482972100377083,
-0.20720748245716095,
-0.09676413893699647,
-0.18075634717941286,
0.0
],
"q99": [
0.14956976801157001,
0.1805950567126275,
0.18841815620660796,
0.21615413755178453,
0.09457383215427405,
0.18543301910162005,
1.0
],
"std": [
0.04935367405414581,
0.06354553252458572,
0.06116493046283722,
0.09553394466638565,
0.08420072495937347,
0.06517919152975082,
0.4945116341114044
]
},
"num_trajectories": 1995,
"num_transitions": 187507,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"stanford_hydra_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.02499854564666748,
0.02499903365969658,
0.024999922141432762,
0.24974457919597626,
0.24997030198574066,
0.24999946355819702,
1.0
],
"mean": [
0.0007790072704665363,
0.00013707888138014823,
-0.00025485901278443635,
0.001290325541049242,
-0.004751728381961584,
0.002692894311621785,
0.48855218291282654
],
"min": [
-0.024999044835567474,
-0.024999700486660004,
-0.02499929815530777,
-0.24993225932121277,
-0.2499666064977646,
-0.2499932497739792,
0.0
],
"q01": [
-0.019992006458342076,
-0.02415412735193968,
-0.022941758055239916,
-0.11085530579090118,
-0.12024572037160397,
-0.13314770206809043,
0.0
],
"q99": [
0.022886231057345868,
0.022358838934451335,
0.02410089675337076,
0.12370114490389822,
0.11323311634361738,
0.18474749639630164,
1.0
],
"std": [
0.008022182621061802,
0.009131455793976784,
0.009574382565915585,
0.04122224822640419,
0.038429953157901764,
0.04606699198484421,
0.49977976083755493
]
},
"num_trajectories": 570,
"num_transitions": 358234,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"taco_play": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.4915844202041626,
2.1842432022094727,
2.6836395263671875,
5.035226821899414,
2.665864944458008,
4.250768661499023,
1.0
],
"mean": [
-0.0038459207862615585,
0.009671449661254883,
0.012780582532286644,
-0.00540377851575613,
-0.009606573730707169,
-0.002480708761140704,
0.4263913035392761
],
"min": [
-4.242457866668701,
-3.192805051803589,
-1.3371467590332031,
-4.202683448791504,
-2.6722638607025146,
-3.3467135429382324,
0.0
],
"q01": [
-0.7106140398979186,
-1.056944659948349,
-0.5878450274467468,
-0.7682853937149048,
-0.7180147767066956,
-1.5527938604354858,
0.0
],
"q99": [
0.6482916426658629,
1.0051310062408447,
0.9480248689651489,
0.6926478147506714,
0.6351067513227462,
1.628010264635086,
1.0
],
"std": [
0.23254039883613586,
0.3629826009273529,
0.286929190158844,
0.261770635843277,
0.24388931691646576,
0.5216502547264099,
0.49469101428985596
]
},
"num_trajectories": 3603,
"num_transitions": 237798,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"toto": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.6839867234230042,
0.4454185664653778,
0.7984078526496887,
2.120781660079956,
1.371164321899414,
1.4118704795837402,
0.0
],
"mean": [
0.3854219913482666,
0.007769436109811068,
0.3632740080356598,
-0.665203869342804,
0.18903960287570953,
0.03298741951584816,
0.0
],
"min": [
0.09922284632921219,
-0.5180193781852722,
0.13791072368621826,
-2.635117530822754,
-1.0734480619430542,
-1.9282547235488892,
0.0
],
"q01": [
0.1756722891330719,
-0.3077590811252594,
0.235383919775486,
-2.0908505964279174,
-0.6191593289375306,
-0.7488683319091797,
0.0
],
"q99": [
0.6136963081359863,
0.33704194784164443,
0.6681221985816956,
0.7422861719131538,
0.7955395007133507,
0.740464625358582,
0.0
],
"std": [
0.12211643904447556,
0.19378553330898285,
0.10178231447935104,
0.572525143623352,
0.29884591698646545,
0.3259912431240082,
0.0
]
},
"num_trajectories": 1003,
"num_transitions": 325699,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"ucsd_kitchen_dataset_converted_externally_to_rlds": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
678.0,
400.0,
507.0,
180.00001525878906,
6.000013828277588,
116.99998474121094,
1.0
],
"mean": [
410.37567138671875,
116.9518814086914,
192.35032653808594,
-121.22441864013672,
-33.84893035888672,
50.016136169433594,
0.741813600063324
],
"min": [
172.0,
-166.0,
-99.99999237060547,
-180.00001525878906,
-89.0,
-96.00010681152344,
0.0
],
"q01": [
200.00001052856445,
-102.31004211425781,
-94.99993370056153,
-180.00001525878906,
-88.00001525878906,
-38.999977111816406,
0.0
],
"q99": [
637.0,
368.30999999999995,
493.0,
180.00001525878906,
0.999983012676239,
105.00001525878906,
1.0
],
"std": [
122.81495666503906,
108.80091857910156,
130.303466796875,
116.28205108642578,
27.621841430664062,
41.02094650268555,
0.43763357400894165
]
},
"num_trajectories": 150,
"num_transitions": 3970,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"utaustin_mutex": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.0,
1.0,
1.0,
0.375,
0.375,
0.375,
1.0
],
"mean": [
0.061764054000377655,
-0.005005496088415384,
0.10216785967350006,
-0.03314131870865822,
0.013895021751523018,
-0.011317637749016285,
0.5038976669311523
],
"min": [
-1.0,
-1.0,
-1.0,
-0.375,
-0.375,
-0.375,
0.0
],
"q01": [
-0.4285714328289032,
-0.9800000190734863,
-0.5571428537368774,
-0.375,
-0.15642857551574707,
-0.335357129573822,
0.0
],
"q99": [
0.5914285778999329,
0.9714285731315613,
1.0,
0.3278571367263794,
0.207857146859169,
0.25607141852378845,
1.0
],
"std": [
0.18750140070915222,
0.4468472898006439,
0.3792876899242401,
0.14097851514816284,
0.06453708559274673,
0.11765257269144058,
0.501045286655426
]
},
"num_trajectories": 1500,
"num_transitions": 361883,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
},
"viola": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.0,
1.0,
1.0,
0.375,
0.36321428418159485,
0.375,
1.0
],
"mean": [
0.0476188063621521,
-0.02920454367995262,
0.055867042392492294,
-0.002618503523990512,
0.006867353338748217,
-0.016821328550577164,
0.7323777675628662
],
"min": [
-1.0,
-1.0,
-1.0,
-0.375,
-0.375,
-0.375,
0.0
],
"q01": [
-0.9628571271896362,
-1.0,
-1.0,
-0.26249998807907104,
-0.21321429312229156,
-0.3385714292526245,
0.0
],
"q99": [
0.9114285707473755,
0.868571400642395,
1.0,
0.2817857265472412,
0.2239285707473755,
0.3557142913341522,
1.0
],
"std": [
0.39157921075820923,
0.40765273571014404,
0.40077871084213257,
0.100240059196949,
0.08443225175142288,
0.10375101119279861,
0.4426012635231018
]
},
"num_trajectories": 150,
"num_transitions": 76324,
"proprio": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
}
},
"output_projector_states": false,
"pad_to_multiple_of": 64,
"pad_token_id": 32000,
"text_config": {
"model_type": "llama",
"pad_token_id": 32000,
"torch_dtype": "bfloat16",
"vocab_size": 32064
},
"timm_model_ids": [
"vit_so400m_patch14_siglip_224"
],
"timm_override_act_layers": [
null
],
"torch_dtype": "bfloat16",
"transformers_version": "4.40.1",
"use_fused_vision_backbone": false,
"vision_backbone_id": "siglip-vit-so400m"
}