contracts/observation_spec.json

{
  "schema_version": "1.0.0",
  "cameras": [
    {
      "name": "head",
      "source_height": 360,
      "source_width": 640,
      "crop_box": {
        "row_start": 0,
        "row_stop": 360,
        "col_start": 140,
        "col_stop": 500
      },
      "color_space": "rgb",
      "encoding": "jpeg",
      "jpeg_quality": 90
    },
    {
      "name": "left_wrist",
      "source_height": 360,
      "source_width": 640,
      "crop_box": {
        "row_start": 0,
        "row_stop": 360,
        "col_start": 140,
        "col_stop": 500
      },
      "color_space": "rgb",
      "encoding": "jpeg",
      "jpeg_quality": 90
    },
    {
      "name": "right_wrist",
      "source_height": 360,
      "source_width": 640,
      "crop_box": {
        "row_start": 0,
        "row_stop": 360,
        "col_start": 140,
        "col_stop": 500
      },
      "color_space": "rgb",
      "encoding": "jpeg",
      "jpeg_quality": 90
    }
  ],
  "instruction": {
    "required": true,
    "max_tokens": 64
  },
  "encoder": {
    "repo_id": "yuvansharma/caip-vitl256",
    "revision": "614a7ea79c3c3ec9d992aa74824c036d1ce69a48",
    "image_size": 256,
    "interpolation": "bicubic",
    "image_mean": [
      0.48145466,
      0.4578275,
      0.40821073
    ],
    "image_std": [
      0.26862954,
      0.26130258,
      0.27577711
    ],
    "num_patch_tokens": 256,
    "hidden_width": 1024,
    "text_context_length": 64,
    "text_canonicalization": "caip_lowercase_strip_punct"
  },
  "uses_proprioception": false,
  "uses_tactile": false,
  "uses_depth": false
}