action_dim: 20
action_fields:
- robot__action__poses__left::panda__xyz_relative
- robot__action__poses__right::panda__xyz_relative
- robot__action__poses__left::panda__rot_6d_relative
- robot__action__poses__right::panda__rot_6d_relative
- robot__action__grippers__left::panda_hand
- robot__action__grippers__right::panda_hand
allow_multiple_epochs: true
augmentation:
  enabled: true
  image:
    color_jitter:
      brightness: 0.2
      contrast: 0.4
      enabled: true
      hue:
      - -0.05
      - 0.05
      saturation: 0.2
    crop:
      enabled: true
      mode: random
      shape:
      - 224
      - 224
  point_cloud:
    color_jitter:
      brightness: 0.2
      contrast: 0.4
      enabled: false
      hue:
      - -0.05
      - 0.05
      saturation: 0.2
camera_names:
- scene_right_0
- scene_left_0
- wrist_left_plus
- wrist_right_minus
dataset_manifest:
- null
dataset_modality:
- robotics
dataset_statistics:
- null
dataset_weighting:
- 1.0
extrinsics_fields:
- extrinsics.scene_right_0
- extrinsics.scene_left_0
- extrinsics.wrist_left_minus
- extrinsics.wrist_left_plus
- extrinsics.wrist_right_minus
- extrinsics.wrist_right_plus
image_indices:
- -1
- 0
image_names:
- scene_right_0_t-1
- scene_left_0_t-1
- wrist_left_plus_t-1
- wrist_right_minus_t-1
- scene_right_0_t0
- scene_left_0_t0
- wrist_left_plus_t0
- wrist_right_minus_t0
image_size: 224
img_num_tokens: 256
intrinsics_fields:
- intrinsics.scene_right_0
- intrinsics.scene_left_0
- intrinsics.wrist_left_minus
- intrinsics.wrist_left_plus
- intrinsics.wrist_right_minus
- intrinsics.wrist_right_plus
language_instruction_types:
- original
- randomized
- verbose
- alternative
lowdim_future_timesteps: 8
lowdim_past_timesteps: 1
mask_padded_images: true
max_text_seq_len: null
normalization:
  centered_norm: true
  enabled: true
  epsilon: 0.01
  field_configs:
    robot__action__grippers__left::panda_hand:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
    robot__action__grippers__right::panda_hand:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
    robot__action__poses__left::panda__rot_6d_relative:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
    robot__action__poses__left::panda__xyz_relative:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
    robot__action__poses__right::panda__rot_6d_relative:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
    robot__action__poses__right::panda__xyz_relative:
      enabled: true
      epsilon: 0.01
      method: percentile_1_99
      scope: per_timestep
  include_fields:
  - robot__action__poses__left::panda__xyz_relative
  - robot__action__poses__right::panda__xyz_relative
  - robot__action__poses__left::panda__rot_6d_relative
  - robot__action__poses__right::panda__rot_6d_relative
  - robot__action__grippers__left::panda_hand
  - robot__action__grippers__right::panda_hand
  lowdim_future_timesteps: 19
  lowdim_past_timesteps: 5
  method: percentile_1_99
  scope: per_timestep
num_workers: 24
pad_missing_images: true
point_cloud_num_points: 4096
pose_groups:
- name: left_panda_action
  position_key: robot__action__poses__left::panda__xyz
  rotation_key: robot__action__poses__left::panda__rot_6d
- name: right_panda_action
  position_key: robot__action__poses__right::panda__xyz
  rotation_key: robot__action__poses__right::panda__rot_6d
prefetch_factor: 2
processor: Qwen/Qwen3-VL-2B-Thinking
processor_kwargs:
  do_resize: false
proprioception_dim: 0
proprioception_fields: []
seed: 42
seq_len: 2048
shuffle: true
shuffle_buffer_size: 2000
shuffle_initial: 500
type: robotics
use_point_cloud: false
val_dataset_manifest: []
val_dataset_statistics: []
val_dataset_weighting: []