| action_fields_config_path: vla_foundry/config_presets/data/lbm/lbm_action_fields.yaml | |
| auto_tag: true | |
| camera_names: | |
| - scene_right_0 | |
| - scene_left_0 | |
| - wrist_left_minus | |
| - wrist_left_plus | |
| - wrist_right_minus | |
| - wrist_right_plus | |
| compute_statistics: true | |
| data_discard_keys: | |
| - robot__desired__wrench__right::panda | |
| - robot__desired__joint_torque__right::panda | |
| - robot__desired__joint_torque__left::panda | |
| - robot__desired__wrench__left::panda | |
| - robot__desired__external_wrench__right::panda | |
| - robot__desired__external_wrench__left::panda | |
| - robot__desired__joint_torque_external__right::panda | |
| - robot__desired__joint_torque_external__left::panda | |
| db_logging: true | |
| fail_on_nan: false | |
| filter_still_samples: false | |
| future_lowdim_steps: 19 | |
| image_indices: | |
| - -1 | |
| - 0 | |
| image_resizing_method: CENTER_CROP | |
| jpeg_quality: 95 | |
| language_annotations_path: vla_foundry/config_presets/data/lbm/lbm_language_annotations.yaml | |
| max_depth: 3.0 | |
| max_episodes_to_process: -1 | |
| max_padding_left: 4 | |
| max_padding_right: 18 | |
| min_depth: 0.001 | |
| num_workers: 20 | |
| output_dir: null | |
| output_dir_fixed_path: null | |
| padding_strategy: copy | |
| past_lowdim_steps: 5 | |
| point_cloud_num_points: 50000 | |
| ray_address: null | |
| ray_num_cpus: null | |
| ray_num_gpus_per_worker: 0.25 | |
| resize_images_size: | |
| - 342 | |
| - 256 | |
| samples_per_shard: 100 | |
| skip_episodes_missing_cameras: false | |
| skip_git_tagging: false | |
| source_episodes: | |
| - null | |
| - null | |
| still_threshold: 0.05 | |
| stride: 1 | |
| type: spartan | |
| use_depth_data: false | |
| validation_episodes_path: null | |