Hugging Face's logo

openvla
/
openvla-7b

Image-Text-to-Text
Transformers
Safetensors
English
openvla
feature-extraction
robotics
vla
multimodal
pretraining
custom_code
Model card Files Community
4
openvla-7b / config.json
skaramcheti's picture
skaramcheti
Upload OpenVLAForActionPrediction
cf0c8cb verified
raw
history blame contribute delete
60.7 kB
{
"arch_specifier": "no-align+fused-gelu-mlp",
"architectures": [
"OpenVLAForActionPrediction"
],
"auto_map": {
"AutoConfig": "configuration_prismatic.OpenVLAConfig",
"AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction"
},
"hf_llm_id": "meta-llama/Llama-2-7b-hf",
"image_resize_strategy": "resize-naive",
"image_sizes": [
224,
224
],
"llm_backbone_id": "llama2-7b-pure",
"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": [
-0.07678354531526566,
0.0036849044263362885,
0.05644911900162697,
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": [
0.6367740631103516,
0.37889179587364197,
0.47796326875686646,
0.0,
0.0,
0.0,
0.47721168398857117
]
},
"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": [
0.011825348250567913,
0.006461074110120535,
0.06023626774549484,
0.0,
0.0,
0.0016465914668515325,
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": [
0.46348899602890015,
0.41240179538726807,
0.411862850189209,
0.0,
0.0,
0.0578610822558403,
0.49894046783447266
]
},
"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": [
0.07747682929039001,
0.03195561468601227,
0.04244732856750488,
0.0,
0.0,
-0.01603456400334835,
0.43260177969932556
],
"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": [
0.3906329572200775,
0.2998155355453491,
0.2782271206378937,
0.0,
0.0,
0.08120622485876083,
0.49528297781944275
]
},
"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
]
}
},
"bc_z": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
0.2165454924106598,
0.1251407265663147,
0.10772687941789627,
0.33544227480888367,
0.28117990493774414,
0.40614867210388184,
1.0
],
"mean": [
-0.009958467446267605,
0.0008958321413956583,
0.004995597992092371,
0.00029755113064311445,
-0.008735382929444313,
-0.030693737789988518,
0.8344562649726868
],
"min": [
-0.1677047461271286,
-0.14630407094955444,
-0.10066790133714676,
-0.29421567916870117,
-0.32101404666900635,
-0.4635624885559082,
0.0
],
"q01": [
-0.09220654994249344,
-0.06456145539879798,
-0.049121275544166565,
-0.11594625547528267,
-0.14152548640966414,
-0.2251061636209488,
0.0
],
"q99": [
0.07628866866230968,
0.058019736707210584,
0.052540797740221024,
0.11740604028105736,
0.11703975558280955,
0.16729306846857078,
1.0
],
"std": [
0.03053455986082554,
0.0231423731893301,
0.020641816779971123,
0.04155943542718887,
0.046427831053733826,
0.0769818127155304,
0.3610210120677948
]
},
"num_trajectories": 43264,
"num_transitions": 6015535,
"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": [
0.0005683620693162084,
0.001217700308188796,
-0.0005296372692100704,
0.00021029810886830091,
6.0695128922816366e-05,
0.001204986940138042,
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": [
0.0115329809486866,
0.007990492507815361,
0.009577835910022259,
0.009432995691895485,
0.016427582129836082,
0.011053967289626598,
0.48267969489097595
]
},
"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": [
-0.07139874249696732,
0.023609008640050888,
0.10241943597793579,
0.0,
0.0,
0.049671024084091187,
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": [
0.1815500408411026,
0.1810990273952484,
0.21220779418945312,
0.0,
0.0,
0.3475511968135834,
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": [
0.0034070091787725687,
0.0049921851605176926,
0.005344334989786148,
0.00759894959628582,
0.004081866703927517,
0.008568956516683102,
0.4586937427520752
]
},
"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": [
0.0002334194869035855,
0.00013004911306779832,
-0.00012762474943883717,
-0.0001556558854645118,
-0.0004039328487124294,
0.00023557482927571982,
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": [
0.009765930473804474,
0.013689135201275349,
0.012667362578213215,
0.028534092009067535,
0.030637972056865692,
0.07691419124603271,
0.4973701536655426
]
},
"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": [
0.00036304505192674696,
0.0,
0.0016466958913952112,
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": [
0.004081828519701958,
0.0,
0.0037743328139185905,
0.0,
0.0,
0.0,
0.48963725566864014
]
},
"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": [
0.006647810339927673,
-0.0007657372043468058,
0.006522852927446365,
0.0011679717572405934,
-0.006395625416189432,
-0.011902998201549053,
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": [
0.021393608301877975,
0.01814231649041176,
0.03374375030398369,
0.01743541844189167,
0.03394376486539841,
0.04641875624656677,
0.4588589072227478
]
},
"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
]
}
},
"dobbe": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
38.590423583984375,
17.932697296142578,
4.843764305114746,
1.4372116327285767,
0.4340403974056244,
1.2057193517684937,
0.9998947381973267
],
"mean": [
-0.0001120665911003016,
0.0011229600058868527,
-0.00010194431524723768,
-7.371398532995954e-05,
-0.00067531579406932,
-5.6643435527803376e-05,
0.6318281888961792
],
"min": [
-5.700923442840576,
-21.605947494506836,
-123.72489929199219,
-1.7229845523834229,
-0.4998578727245331,
-0.8867913484573364,
1.4196479014572105e-06
],
"q01": [
-0.01119564864784479,
-0.014266146533191203,
-0.0071747214533388615,
-0.009444301575422287,
-0.03990109823644161,
-0.017422311007976532,
4.003279136668425e-05
],
"q99": [
0.01015154086053368,
0.017181577533483497,
0.007216989761218411,
0.010380979906767595,
0.03556173853576176,
0.018032474815845446,
0.9982578039169312
],
"std": [
0.04264938458800316,
0.04428559169173241,
0.12224084138870239,
0.005388413090258837,
0.011246449314057827,
0.006287882570177317,
0.39732322096824646
]
},
"num_trajectories": 5208,
"num_transitions": 1139911,
"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
]
}
},
"fmb_dataset": {
"action": {
"mask": [
true,
true,
true,
true,
true,
true,
false
],
"max": [
1.399999976158142,
1.0,
1.399999976158142,
1.0,
1.0,
1.0,
1.0
],
"mean": [
0.059029702097177505,
-0.06476633995771408,
-0.09787475317716599,
0.004325388930737972,
0.00028963794466108084,
-0.04457257315516472,
0.7336440086364746
],
"min": [
-1.399999976158142,
-1.399999976158142,
-1.0,
-1.0,
-1.0,
-1.0,
0.0
],
"q01": [
-0.8257142901420593,
-1.399999976158142,
-1.0,
-1.0,
-0.3028571307659149,
-1.0,
0.0
],
"q99": [
1.0,
0.5257142782211304,
1.0,
1.0,
0.3400000035762787,
1.0,
1.0
],
"std": [
0.28809213638305664,
0.2820415794849396,
0.4626740515232086,
0.3266514539718628,
0.10842999070882797,
0.3440099358558655,
0.4435282051563263
]
},
"num_trajectories": 8612,
"num_transitions": 1137459,
"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": [
0.006987582892179489,
0.006265917327255011,
-0.01262515690177679,
0.04333311319351196,
-0.005756212864071131,
0.0009130256366916001,
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": [
0.0692116990685463,
0.05970962345600128,
0.07353084534406662,
0.15610496699810028,
0.13164450228214264,
0.14593800902366638,
0.497110515832901
]
},
"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": [
0.00014610752987209707,
0.0010830952087417245,
0.0006224989192560315,
-0.003303206292912364,
-0.0026880695950239897,
0.018242603167891502,
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,
-0.8886768388748169,
0.0
],
"q99": [
0.05414841488003723,
0.04965164884924884,
0.060055799782276154,
0.18231668293476103,
0.39867786407470646,
0.8772023963928218,
1.0
],
"std": [
0.01610708422958851,
0.014891477301716805,
0.014014219865202904,
0.058274295181035995,
0.11417088657617569,
0.33479776978492737,
0.49991825222969055
]
},
"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": [
0.5274372696876526,
0.02858201041817665,
0.18712575733661652,
1.2339589595794678,
0.03226623684167862,
-1.4199490547180176,
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": [
0.08108345419168472,
0.1116757020354271,
0.07747554779052734,
2.8737246990203857,
0.02774704433977604,
2.7678682804107666,
0.49695101380348206
]
},
"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": [
0.0009658430935814977,
-0.00580078037455678,
-0.00395062193274498,
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": [
0.12235074490308762,
0.09678777307271957,
0.11155334860086441,
0.0,
0.0,
0.0,
0.4768252968788147
]
},
"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": [
-0.0004668905457947403,
0.00040138536132872105,
-0.001280792523175478,
0.0,
0.0,
-0.03722453489899635,
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": [
0.02083250693976879,
0.02915887162089348,
0.06422865390777588,
0.0,
0.0,
0.14224295318126678,
0.49086448550224304
]
},
"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
]
}
},
"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,
-0.00012002651783404872,
0.00032894269679673016,
0.0015034361276775599,
-0.002198522910475731,
-0.001663230243138969,
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": [
0.01327415369451046,
0.013215910643339157,
0.012822109274566174,
0.2732451558113098,
0.057022541761398315,
0.039172880351543427,
0.44752755761146545
]
},
"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": [
0.0014448732836171985,
-0.0015945249469950795,
-0.0011753785656765103,
0.0023012510500848293,
-0.0009382463176734746,
-0.00011485807772260159,
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": [
0.04935386776924133,
0.0635455846786499,
0.061164740473032,
0.09553450345993042,
0.08420111238956451,
0.06517903506755829,
0.49452081322669983
]
},
"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": [
0.0007790001109242439,
0.00013707754260394722,
-0.0002548607881180942,
0.0012903271708637476,
-0.004751681815832853,
0.002692886395379901,
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": [
0.008022161200642586,
0.009131459519267082,
0.009574338793754578,
0.04122216999530792,
0.0384303517639637,
0.04606688767671585,
0.49976691603660583
]
},
"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": [
-0.003845922416076064,
0.009671456180512905,
0.012780580669641495,
-0.005403771996498108,
-0.009606587700545788,
-0.002480733208358288,
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": [
0.23254038393497467,
0.36298269033432007,
0.28692901134490967,
0.2617705166339874,
0.2438892275094986,
0.5216503143310547,
0.4946896731853485
]
},
"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": [
0.38542115688323975,
0.007769413758069277,
0.3632740378379822,
-0.6652036905288696,
0.1890396922826767,
0.03298724442720413,
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": [
0.12211652100086212,
0.19378550350666046,
0.10178236663341522,
0.5725259184837341,
0.29884573817253113,
0.3259911835193634,
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": [
122.81494903564453,
108.8009033203125,
130.303466796875,
116.28205108642578,
27.621843338012695,
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": [
0.06176406890153885,
-0.005005486309528351,
0.10216785222291946,
-0.03314131125807762,
0.013895004987716675,
-0.011317633092403412,
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": [
0.1875014752149582,
0.4468473494052887,
0.3792876601219177,
0.14097853004932404,
0.06453701853752136,
0.11765272170305252,
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": [
0.04761844128370285,
-0.029204415157437325,
0.05586736649274826,
-0.002618510741740465,
0.006867344491183758,
-0.01682133786380291,
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": [
0.39157867431640625,
0.4076525568962097,
0.40077948570251465,
0.10023996233940125,
0.0844319611787796,
0.10375042259693146,
0.44260647892951965
]
},
"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_large_patch14_reg4_dinov2.lvd142m",
"vit_so400m_patch14_siglip_224"
],
"timm_override_act_layers": [
null,
null
],
"torch_dtype": "bfloat16",
"transformers_version": "4.40.1",
"use_fused_vision_backbone": true,
"vision_backbone_id": "dinosiglip-vit-so-224px"
}