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vllm_omni.diffusion.models.gr00t.configs.embodiment_configs

ActionConfig dataclass

format instance-attribute 

format: ActionFormat

rep instance-attribute 

rep: ActionRepresentation

state_key class-attribute instance-attribute 

state_key: str | None = None

type instance-attribute 

type: ActionType

ActionFormat

Bases: Enum

DEFAULT class-attribute instance-attribute 

DEFAULT = 'default'

XYZ_ROT6D class-attribute instance-attribute 

XYZ_ROT6D = 'xyz+rot6d'

XYZ_ROTVEC class-attribute instance-attribute 

XYZ_ROTVEC = 'xyz+rotvec'

ActionRepresentation

Bases: Enum

ABSOLUTE class-attribute instance-attribute 

ABSOLUTE = 'absolute'

DELTA class-attribute instance-attribute 

DELTA = 'delta'

RELATIVE class-attribute instance-attribute 

RELATIVE = 'relative'

ActionType

Bases: Enum

EEF class-attribute instance-attribute 

EEF = 'eef'

NON_EEF class-attribute instance-attribute 

NON_EEF = 'non_eef'

ModalityConfig dataclass

Configuration for a modality defining how data should be sampled and loaded.

This class specifies which indices to sample relative to a base index and which keys to load for a particular modality (e.g., video, state, action).

action_configs class-attribute instance-attribute 

action_configs: list[ActionConfig] | None = None

delta_indices instance-attribute 

delta_indices: list[int]

Delta indices to sample relative to the current index. The returned data will correspond to the original data at a sampled base index + delta indices.

mean_std_embedding_keys class-attribute instance-attribute 

mean_std_embedding_keys: list[str] | None = None

Optional list of keys to apply mean/std normalization. If None or empty, use min/max normalization for all keys.

modality_keys instance-attribute 

modality_keys: list[str]

The keys to load for the modality in the dataset.

sin_cos_embedding_keys class-attribute instance-attribute 

sin_cos_embedding_keys: list[str] | None = None

Optional list of keys to apply sin/cos encoding. If None or empty, use min/max normalization for all keys.