model_type: qwen2_5
min_key: q001
delta_key: delta_001
dof_config:
  follow_left_ee_cartesian_pos_relative: 3
  follow_left_ee_rotation_6D_relative: 6
  follow_left_gripper: 1
  follow_right_ee_cartesian_pos_relative: 3
  follow_right_ee_rotation_6D_relative: 6
  follow_right_gripper: 1
  velocity_decomposed: 3
  height: 1
  head_actions: 2
ar_dof_config:
  follow_left_ee_cartesian_pos_relative: 3
  follow_left_ee_rotation_6D_relative: 6
  follow_left_gripper: 1
  follow_right_ee_cartesian_pos_relative: 3
  follow_right_ee_rotation_6D_relative: 6
  follow_right_gripper: 1
  velocity_decomposed: 3
  height: 1
  head_actions: 2
agent_pos_config:
  follow_left_ee_cartesian_pos: 3
  follow_left_ee_rotation_6D: 6
  follow_left_gripper: 1
  follow_right_ee_cartesian_pos: 3
  follow_right_ee_rotation_6D: 6
  follow_right_gripper: 1
  velocity_decomposed: 3
  height: 1
  head_actions: 2
use_state_string_representation: true
state_bins: 512
data:
  action_horizon_flow: 32
  action_horizon_ar: 32
  use_state_string_representation: true
  use_embodied_system_prompt_ratio: 0.0
  state_bins: 512
  resolution:
    face_view: 448
    right_wrist_view: 448