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